# HG changeset patch
# User Edouard Tisserant
# Date 1538488646 -7200
# Node ID 4d7cee25a4743382df4de1d71945a691af40a647
# Parent  c44692b5373608b299c082f99f9f206a6d48cf0a# Parent  56f1d8aca88642b2cf62f6a101460e550a3f0faa
Merged

diff -r c44692b53736 -r 4d7cee25a474 Beremiz_service.py
--- a/Beremiz_service.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/Beremiz_service.py	Tue Oct 02 15:57:26 2018 +0200
@@ -40,7 +40,13 @@
 import util.paths as paths
 
 
+def version():
+    from version import app_version
+    print("Beremiz_service: ", app_version)
+
+
 def usage():
+    version()
     print("""
 Usage of Beremiz PLC execution service :\n
 %s {[-n servicename] [-i IP] [-p port] [-x enabletaskbar] [-a autostart]|-h|--help} working_dir
@@ -61,8 +67,8 @@
 
 
 try:
-    opts, argv = getopt.getopt(sys.argv[1:], "i:p:n:x:t:a:w:c:e:s:h")
-except getopt.GetoptError, err:
+    opts, argv = getopt.getopt(sys.argv[1:], "i:p:n:x:t:a:w:c:e:s:h", ["help", "version"])
+except getopt.GetoptError as err:
     # print help information and exit:
     print(str(err))  # will print something like "option -a not recognized"
     usage()
@@ -84,9 +90,12 @@
 extensions = []
 
 for o, a in opts:
-    if o == "-h":
+    if o == "-h" or o == "--help":
         usage()
         sys.exit()
+    if o == "--version":
+        version()
+        sys.exit()
     elif o == "-i":
         if len(a.split(".")) == 4 or a == "localhost":
             given_ip = a
@@ -135,6 +144,7 @@
     __builtin__.__dict__['_'] = lambda x: x
     # TODO: add a cmdline parameter if Trying Preloading Xenomai makes problem
     TryPreloadXenomai()
+    version()
 
 
 def Bpath(*args):
diff -r c44692b53736 -r 4d7cee25a474 IDEFrame.py
--- a/IDEFrame.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/IDEFrame.py	Tue Oct 02 15:57:26 2018 +0200
@@ -93,106 +93,6 @@
 ] = [wx.NewId() for _init_coll_DefaultEditorToolBar_Items in range(18)]
 
 
-# Define behaviour of each Toolbar item according to current POU body type
-# Informations meaning are in this order:
-#  - Item is toggled
-#  - PLCOpenEditor mode where item is displayed (could be more then one)
-#  - Item id
-#  - Item callback function name
-#  - Item icon filename
-#  - Item tooltip text
-EditorToolBarItems = {
-    "FBD":   [(True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARMOTION, "OnMotionTool",
-               "move", _("Move the view")),
-              (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARCOMMENT, "OnCommentTool",
-               "add_comment", _("Create a new comment")),
-              (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARVARIABLE, "OnVariableTool",
-               "add_variable", _("Create a new variable")),
-              (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARBLOCK, "OnBlockTool",
-               "add_block", _("Create a new block")),
-              (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARCONNECTION, "OnConnectionTool",
-               "add_connection", _("Create a new connection"))],
-    "LD":    [(True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARMOTION, "OnMotionTool",
-               "move", _("Move the view")),
-              (True, FREEDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARCOMMENT, "OnCommentTool",
-               "add_comment", _("Create a new comment")),
-              (True, FREEDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARPOWERRAIL, "OnPowerRailTool",
-               "add_powerrail", _("Create a new power rail")),
-              (False, DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARRUNG, "OnRungTool",
-               "add_rung", _("Create a new rung")),
-              (True, FREEDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARCOIL, "OnCoilTool",
-               "add_coil", _("Create a new coil")),
-              (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARCONTACT, "OnContactTool",
-               "add_contact", _("Create a new contact")),
-              (False, DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARBRANCH, "OnBranchTool",
-               "add_branch", _("Create a new branch")),
-              (True, FREEDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARVARIABLE, "OnVariableTool",
-               "add_variable", _("Create a new variable")),
-              (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARBLOCK, "OnBlockTool",
-               "add_block", _("Create a new block")),
-              (True, FREEDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARCONNECTION, "OnConnectionTool",
-               "add_connection", _("Create a new connection"))],
-    "SFC":   [(True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARMOTION, "OnMotionTool",
-               "move", _("Move the view")),
-              (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARCOMMENT, "OnCommentTool",
-               "add_comment", _("Create a new comment")),
-              (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARINITIALSTEP, "OnInitialStepTool",
-               "add_initial_step", _("Create a new initial step")),
-              (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARSTEP, "OnStepTool",
-               "add_step", _("Create a new step")),
-              (True, FREEDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARTRANSITION, "OnTransitionTool",
-               "add_transition", _("Create a new transition")),
-              (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARACTIONBLOCK, "OnActionBlockTool",
-               "add_action", _("Create a new action block")),
-              (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARDIVERGENCE, "OnDivergenceTool",
-               "add_divergence", _("Create a new divergence")),
-              (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARJUMP, "OnJumpTool",
-               "add_jump", _("Create a new jump")),
-              (True, FREEDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARVARIABLE, "OnVariableTool",
-               "add_variable", _("Create a new variable")),
-              (True, FREEDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARBLOCK, "OnBlockTool",
-               "add_block", _("Create a new block")),
-              (True, FREEDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARCONNECTION, "OnConnectionTool",
-               "add_connection", _("Create a new connection")),
-              (True, FREEDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARPOWERRAIL, "OnPowerRailTool",
-               "add_powerrail", _("Create a new power rail")),
-              (True, FREEDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARCONTACT, "OnContactTool",
-               "add_contact", _("Create a new contact"))],
-    "ST":    [],
-    "IL":    [],
-    "debug": [(True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
-               ID_PLCOPENEDITOREDITORTOOLBARMOTION, "OnMotionTool",
-               "move", _("Move the view"))],
-}
-
 # -------------------------------------------------------------------------------
 #                               Helper Functions
 # -------------------------------------------------------------------------------
@@ -331,12 +231,114 @@
     return tabs
 
 
-UNEDITABLE_NAMES_DICT = dict([(_(n), n) for n in UNEDITABLE_NAMES])
-
-
 class IDEFrame(wx.Frame):
     """IDEFrame Base Class"""
 
+    def InitEditorToolbarItems(self):
+        """
+        Initialize dictionary with lists of elements that need to be shown
+        if POU in particular programming language is edited.
+        """
+        # Define behaviour of each Toolbar item according to current POU body type
+        # Informations meaning are in this order:
+        #  - Item is toggled
+        #  - PLCOpenEditor mode where item is displayed (could be more then one)
+        #  - Item id
+        #  - Item callback function name
+        #  - Item icon filename
+        #  - Item tooltip text
+        self.EditorToolBarItems = {
+            "FBD":   [(True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARMOTION, "OnMotionTool",
+                       "move", _("Move the view")),
+                      (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARCOMMENT, "OnCommentTool",
+                       "add_comment", _("Create a new comment")),
+                      (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARVARIABLE, "OnVariableTool",
+                       "add_variable", _("Create a new variable")),
+                      (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARBLOCK, "OnBlockTool",
+                       "add_block", _("Create a new block")),
+                      (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARCONNECTION, "OnConnectionTool",
+                       "add_connection", _("Create a new connection"))],
+            "LD":    [(True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARMOTION, "OnMotionTool",
+                       "move", _("Move the view")),
+                      (True, FREEDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARCOMMENT, "OnCommentTool",
+                       "add_comment", _("Create a new comment")),
+                      (True, FREEDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARPOWERRAIL, "OnPowerRailTool",
+                       "add_powerrail", _("Create a new power rail")),
+                      (False, DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARRUNG, "OnRungTool",
+                       "add_rung", _("Create a new rung")),
+                      (True, FREEDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARCOIL, "OnCoilTool",
+                       "add_coil", _("Create a new coil")),
+                      (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARCONTACT, "OnContactTool",
+                       "add_contact", _("Create a new contact")),
+                      (False, DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARBRANCH, "OnBranchTool",
+                       "add_branch", _("Create a new branch")),
+                      (True, FREEDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARVARIABLE, "OnVariableTool",
+                       "add_variable", _("Create a new variable")),
+                      (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARBLOCK, "OnBlockTool",
+                       "add_block", _("Create a new block")),
+                      (True, FREEDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARCONNECTION, "OnConnectionTool",
+                       "add_connection", _("Create a new connection"))],
+            "SFC":   [(True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARMOTION, "OnMotionTool",
+                       "move", _("Move the view")),
+                      (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARCOMMENT, "OnCommentTool",
+                       "add_comment", _("Create a new comment")),
+                      (True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARINITIALSTEP, "OnInitialStepTool",
+                       "add_initial_step", _("Create a new initial step")),
+                      (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARSTEP, "OnStepTool",
+                       "add_step", _("Create a new step")),
+                      (True, FREEDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARTRANSITION, "OnTransitionTool",
+                       "add_transition", _("Create a new transition")),
+                      (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARACTIONBLOCK, "OnActionBlockTool",
+                       "add_action", _("Create a new action block")),
+                      (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARDIVERGENCE, "OnDivergenceTool",
+                       "add_divergence", _("Create a new divergence")),
+                      (False, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARJUMP, "OnJumpTool",
+                       "add_jump", _("Create a new jump")),
+                      (True, FREEDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARVARIABLE, "OnVariableTool",
+                       "add_variable", _("Create a new variable")),
+                      (True, FREEDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARBLOCK, "OnBlockTool",
+                       "add_block", _("Create a new block")),
+                      (True, FREEDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARCONNECTION, "OnConnectionTool",
+                       "add_connection", _("Create a new connection")),
+                      (True, FREEDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARPOWERRAIL, "OnPowerRailTool",
+                       "add_powerrail", _("Create a new power rail")),
+                      (True, FREEDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARCONTACT, "OnContactTool",
+                       "add_contact", _("Create a new contact"))],
+            "ST":    [],
+            "IL":    [],
+            "debug": [(True, FREEDRAWING_MODE | DRIVENDRAWING_MODE,
+                       ID_PLCOPENEDITOREDITORTOOLBARMOTION, "OnMotionTool",
+                       "move", _("Move the view"))],
+        }
+
     def _init_coll_MenuBar_Menus(self, parent):
         parent.Append(menu=self.FileMenu, title=_(u'&File'))
         parent.Append(menu=self.EditMenu, title=_(u'&Edit'))
@@ -672,10 +674,13 @@
                           size=wx.Size(1000, 600),
                           style=wx.DEFAULT_FRAME_STYLE)
 
+        self.UNEDITABLE_NAMES_DICT = dict([(_(n), n) for n in UNEDITABLE_NAMES])
+
         self.Controler = None
         self.Config = wx.ConfigBase.Get()
         self.EnableDebug = enable_debug
 
+        self.InitEditorToolbarItems()
         self._init_ctrls(parent)
 
         # Define Tree item icon list
@@ -1891,7 +1896,7 @@
             if item_infos["type"] == ITEM_PROJECT:
                 name = "Project"
             else:
-                name = UNEDITABLE_NAMES_DICT[name]
+                name = self.UNEDITABLE_NAMES_DICT[name]
 
             if name == "Data Types":
                 menu = wx.Menu(title='')
@@ -2155,7 +2160,7 @@
             self.CurrentEditorToolBar = []
             EditorToolBar = self.Panes["EditorToolBar"]
             if EditorToolBar:
-                for radio, modes, id, method, picture, help in EditorToolBarItems[menu]:
+                for radio, modes, id, method, picture, help in self.EditorToolBarItems[menu]:
                     if modes & self.DrawingMode:
                         if radio or self.DrawingMode == FREEDRAWING_MODE:
                             EditorToolBar.AddRadioTool(id, GetBitmap(picture), wx.NullBitmap, help)
@@ -2167,6 +2172,7 @@
                 self.AUIManager.GetPane("EditorToolBar").Show()
                 self.AUIManager.Update()
                 self.AUIManager.GetPane("EditorToolBar").BestSize(EditorToolBar.GetBestSize())
+                self.AUIManager.Update()
         elif menu is None:
             self.ResetEditorToolBar()
             self.CurrentMenu = menu
@@ -2420,7 +2426,7 @@
 
         if self.ProjectTree.GetPyData(selected)["type"] != ITEM_PROJECT:
             pou_type = self.ProjectTree.GetItemText(selected)
-            pou_type = UNEDITABLE_NAMES_DICT[pou_type]  # one of 'Functions', 'Function Blocks' or 'Programs'
+            pou_type = self.UNEDITABLE_NAMES_DICT[pou_type]  # one of 'Functions', 'Function Blocks' or 'Programs'
             pou_type = {'Functions': 'function', 'Function Blocks': 'functionBlock', 'Programs': 'program'}[pou_type]
         else:
             pou_type = None
diff -r c44692b53736 -r 4d7cee25a474 PLCGenerator.py
--- a/PLCGenerator.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/PLCGenerator.py	Tue Oct 02 15:57:26 2018 +0200
@@ -926,15 +926,17 @@
         if blk is None:
             return None
 
-        if not isinstance(blk, (InVariableClass, InOutVariableClass)):
-            for invar in blk.inputVariables.getvariable():
-                if invar.getformalParameter() == "EN":
-                    if len(invar.getconnectionPointIn().getconnections()) > 0:
-                        if blk.getinstanceName() is None:
-                            var_name = "%s%d_ENO" % (blk.gettypeName(), blk.getlocalId())
-                        else:
-                            var_name = "%s.ENO" % blk.getinstanceName()
-                        return var_name
+        if not hasattr(blk, "inputVariables"):
+            return None
+
+        for invar in blk.inputVariables.getvariable():
+            if invar.getformalParameter() == "EN":
+                if len(invar.getconnectionPointIn().getconnections()) > 0:
+                    if blk.getinstanceName() is None:
+                        var_name = "%s%d_ENO" % (blk.gettypeName(), blk.getlocalId())
+                    else:
+                        var_name = "%s.ENO" % blk.getinstanceName()
+                    return var_name
         return None
 
     def ComputeProgram(self, pou):
@@ -1344,7 +1346,7 @@
                 else:
                     paths.append(variable)
             elif isinstance(next, CoilClass):
-                paths.append(str(self.GeneratePaths(next.connectionPointIn.getconnections(), body, order)))
+                paths.append(self.GeneratePaths(next.connectionPointIn.getconnections(), body, order))
         return paths
 
     def ComputePaths(self, paths, first=False):
diff -r c44692b53736 -r 4d7cee25a474 README.md
--- a/README.md	Tue Oct 02 15:56:09 2018 +0200
+++ b/README.md	Tue Oct 02 15:57:26 2018 +0200
@@ -23,6 +23,7 @@
 		sudo apt-get install build-essential bison flex autoconf
 		sudo apt-get install python-wxgtk3.0 pyro mercurial
 		sudo apt-get install python-nevow python-matplotlib python-lxml python-zeroconf python-cycler
+		sudo apt-get install python-autobahn python-u-msgpack
 
 * Prepare
 
@@ -45,11 +46,11 @@
 * Build CanFestival (optional)  
   Only needed for CANopen support. Please read CanFestival manual to choose CAN interface other than 'virtual'.
 
-        cd ~/Beremiz
-        hg clone http://dev.automforge.net/CanFestival-3
-        cd ~/Beremiz/CanFestival-3
-        ./configure --can=virtual
-        make
+		cd ~/Beremiz
+		hg clone http://dev.automforge.net/CanFestival-3
+		cd ~/Beremiz/CanFestival-3
+		./configure --can=virtual
+		make
 
 * Build Modbus library (optional)
   Only needed for Modbus support.
@@ -59,6 +60,14 @@
 		cd ~/Beremiz/Modbus
 		make
 
+* Build BACnet (optional)
+  Only needed for BACnet support.
+
+		cd ~/Beremiz
+		svn checkout https://svn.code.sf.net/p/bacnet/code/trunk/bacnet-stack/ BACnet
+		cd BACnet
+		make MAKE_DEFINE='-fPIC' all
+
 * Launch Beremiz IDE
 
 		cd ~/Beremiz/beremiz
diff -r c44692b53736 -r 4d7cee25a474 bitbucket-pipelines.yml
--- a/bitbucket-pipelines.yml	Tue Oct 02 15:56:09 2018 +0200
+++ b/bitbucket-pipelines.yml	Tue Oct 02 15:57:26 2018 +0200
@@ -1,20 +1,18 @@
 image: skvorl/beremiz-requirements
 
 pipelines:
-  custom: # Pipelines that are triggered manually
-    checks: # The name that is displayed in the list in the Bitbucket Cloud GUI
+  default:
+    - parallel:
         - step:
-            script: # Modify the commands below to build your repository.
+            name: Codestyle checks
+            script:
               - ln -s /CanFestival-3 $BITBUCKET_CLONE_DIR/../CanFestival-3
               - /usr/bin/python --version
               - ./tests/tools/check_source.sh
+        - step:
+            name: Application tests
+            max-time: 10
+            script:
+              - ln -s /CanFestival-3 $BITBUCKET_CLONE_DIR/../CanFestival-3
               - ./tests/tools/run_python_tests.sh
-
-
-  default:
-    - step:
-        script: # Modify the commands below to build your repository.
-          - ln -s /CanFestival-3 $BITBUCKET_CLONE_DIR/../CanFestival-3
-          - /usr/bin/python --version
-          - ./tests/tools/check_source.sh
-          - ./tests/tools/run_python_tests.sh
+    
\ No newline at end of file
diff -r c44692b53736 -r 4d7cee25a474 controls/DebugVariablePanel/DebugVariablePanel.py
--- a/controls/DebugVariablePanel/DebugVariablePanel.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/controls/DebugVariablePanel/DebugVariablePanel.py	Tue Oct 02 15:57:26 2018 +0200
@@ -50,14 +50,6 @@
 HOUR = 60 * MINUTE           # Number of nanosecond in a hour
 DAY = 24 * HOUR              # Number of nanosecond in a day
 
-# List of values possible for graph range
-# Format is [(time_in_plain_text, value_in_nanosecond),...]
-RANGE_VALUES = \
-    [(_("%dms") % i, i * MILLISECOND) for i in (10, 20, 50, 100, 200, 500)] + \
-    [(_("%ds") % i, i * SECOND) for i in (1, 2, 5, 10, 20, 30)] + \
-    [(_("%dm") % i, i * MINUTE) for i in (1, 2, 5, 10, 20, 30)] + \
-    [(_("%dh") % i, i * HOUR) for i in (1, 2, 3, 6, 12, 24)]
-
 # Scrollbar increment in pixel
 SCROLLBAR_UNIT = 10
 
@@ -189,6 +181,13 @@
         """
         wx.Panel.__init__(self, parent, style=wx.SP_3D | wx.TAB_TRAVERSAL)
 
+        # List of values possible for graph range
+        # Format is [(time_in_plain_text, value_in_nanosecond),...]
+        self.RANGE_VALUES = [(_("%dms") % i, i * MILLISECOND) for i in (10, 20, 50, 100, 200, 500)] + \
+                            [(_("%ds") % i, i * SECOND) for i in (1, 2, 5, 10, 20, 30)] + \
+                            [(_("%dm") % i, i * MINUTE) for i in (1, 2, 5, 10, 20, 30)] + \
+                            [(_("%dh") % i, i * HOUR) for i in (1, 2, 3, 6, 12, 24)]
+
         # Save Reference to Beremiz frame
         self.ParentWindow = window
 
@@ -233,7 +232,7 @@
 
         self.CanvasRange.Clear()
         default_range_idx = 0
-        for idx, (text, _value) in enumerate(RANGE_VALUES):
+        for idx, (text, _value) in enumerate(self.RANGE_VALUES):
             self.CanvasRange.Append(text)
             if _value == 1000000000:
                 default_range_idx = idx
@@ -307,7 +306,7 @@
             self.Ticktime = MILLISECOND
 
         # Calculate range to apply to data
-        self.CurrentRange = RANGE_VALUES[
+        self.CurrentRange = self.RANGE_VALUES[
             self.CanvasRange.GetSelection()][1] / self.Ticktime
 
     def SetDataProducer(self, producer):
@@ -614,10 +613,10 @@
     def ChangeRange(self, dir, tick=None):
         current_range = self.CurrentRange
         current_range_idx = self.CanvasRange.GetSelection()
-        new_range_idx = max(0, min(current_range_idx + dir, len(RANGE_VALUES) - 1))
+        new_range_idx = max(0, min(current_range_idx + dir, len(self.RANGE_VALUES) - 1))
         if new_range_idx != current_range_idx:
             self.CanvasRange.SetSelection(new_range_idx)
-            self.CurrentRange = RANGE_VALUES[new_range_idx][1] / self.Ticktime
+            self.CurrentRange = self.RANGE_VALUES[new_range_idx][1] / self.Ticktime
             if len(self.Ticks) > 0:
                 if tick is None:
                     tick = self.StartTick + self.CurrentRange / 2.
@@ -639,7 +638,7 @@
 
     def OnRangeChanged(self, event):
         try:
-            self.CurrentRange = RANGE_VALUES[self.CanvasRange.GetSelection()][1] / self.Ticktime
+            self.CurrentRange = self.RANGE_VALUES[self.CanvasRange.GetSelection()][1] / self.Ticktime
         except ValueError:
             self.CanvasRange.SetValue(str(self.CurrentRange))
         wx.CallAfter(self.RefreshRange)
diff -r c44692b53736 -r 4d7cee25a474 controls/VariablePanel.py
--- a/controls/VariablePanel.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/controls/VariablePanel.py	Tue Oct 02 15:57:26 2018 +0200
@@ -80,9 +80,6 @@
     return options
 
 
-OPTIONS_DICT = dict([(_(option), option) for option in GetOptions()])
-
-
 def GetFilterChoiceTransfer():
     _ = NoTranslate
     return {_("All"): _("All"), _("Interface"): _("Interface"),
@@ -91,9 +88,6 @@
             _("   Temp"): _("Temp"), _("Global"): _("Global")}  # , _("Access") : _("Access")}
 
 
-VARIABLE_CHOICES_DICT = dict([(_(_class), _class) for _class in GetFilterChoiceTransfer().iterkeys()])
-VARIABLE_CLASSES_DICT = dict([(_(_class), _class) for _class in GetFilterChoiceTransfer().itervalues()])
-
 CheckOptionForClass = {
     "Local": lambda x: x,
     "Temp": lambda x: "",
@@ -122,6 +116,10 @@
         # The base class must be initialized *first*
         CustomTable.__init__(self, parent, data, colnames)
         self.old_value = None
+        self.OPTIONS_DICT = dict([(_(option), option)
+                                  for option in GetOptions()])
+        self.VARIABLE_CLASSES_DICT = dict([(_(_class), _class)
+                                           for _class in GetFilterChoiceTransfer().itervalues()])
 
     def GetValueByName(self, row, colname):
         if row < self.GetNumberRows():
@@ -154,12 +152,12 @@
             if colname == "Name":
                 self.old_value = getattr(self.data[row], colname)
             elif colname == "Class":
-                value = VARIABLE_CLASSES_DICT[value]
+                value = self.VARIABLE_CLASSES_DICT[value]
                 self.SetValueByName(row, "Option", CheckOptionForClass[value](self.GetValueByName(row, "Option")))
                 if value == "External":
                     self.SetValueByName(row, "InitialValue", "")
             elif colname == "Option":
-                value = OPTIONS_DICT[value]
+                value = self.OPTIONS_DICT[value]
             elif colname == "Initial Value":
                 colname = "InitialValue"
             setattr(self.data[row], colname, value)
@@ -444,6 +442,9 @@
     def __init__(self, parent, window, controler, element_type, debug=False):
         wx.Panel.__init__(self, parent, style=wx.TAB_TRAVERSAL)
 
+        self.VARIABLE_CHOICES_DICT = dict([(_(_class), _class) for
+                                           _class in GetFilterChoiceTransfer().iterkeys()])
+
         self.MainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=0)
         self.MainSizer.AddGrowableCol(0)
         self.MainSizer.AddGrowableRow(1)
@@ -763,7 +764,7 @@
         event.Skip()
 
     def OnClassFilter(self, event):
-        self.Filter = self.FilterChoiceTransfer[VARIABLE_CHOICES_DICT[self.ClassFilter.GetStringSelection()]]
+        self.Filter = self.FilterChoiceTransfer[self.VARIABLE_CHOICES_DICT[self.ClassFilter.GetStringSelection()]]
         self.RefreshTypeList()
         self.RefreshValues()
         self.VariablesGrid.RefreshButtons()
diff -r c44692b53736 -r 4d7cee25a474 dialogs/BrowseLocationsDialog.py
--- a/dialogs/BrowseLocationsDialog.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/dialogs/BrowseLocationsDialog.py	Tue Oct 02 15:57:26 2018 +0200
@@ -45,9 +45,6 @@
             (_("Memory"), [LOCATION_VAR_MEMORY])]
 
 
-DIRFILTERCHOICE_OPTIONS = dict([(_(option), filter) for option, filter in GetDirFilterChoiceOptions()])
-
-
 def GetTypeFilterChoiceOptions():
     _ = NoTranslate
     return [_("All"),
@@ -72,6 +69,8 @@
         wx.Dialog.__init__(self, parent, title=_('Browse Locations'),
                            style=wx.DEFAULT_DIALOG_STYLE | wx.RESIZE_BORDER)
 
+        self.DIRFILTERCHOICE_OPTIONS = dict(
+            [(_(option), filter) for option, filter in GetDirFilterChoiceOptions()])
         main_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=3, vgap=10)
         main_sizer.AddGrowableCol(0)
         main_sizer.AddGrowableRow(1)
@@ -159,7 +158,7 @@
         self.Fit()
 
     def RefreshFilters(self):
-        self.DirFilter = DIRFILTERCHOICE_OPTIONS[self.DirFilterChoice.GetStringSelection()]
+        self.DirFilter = self.DIRFILTERCHOICE_OPTIONS[self.DirFilterChoice.GetStringSelection()]
         self.TypeFilter = self.TypeFilterChoice.GetSelection()
 
     def RefreshLocationsTree(self):
diff -r c44692b53736 -r 4d7cee25a474 dialogs/DurationEditorDialog.py
--- a/dialogs/DurationEditorDialog.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/dialogs/DurationEditorDialog.py	Tue Oct 02 15:57:26 2018 +0200
@@ -42,14 +42,6 @@
 
 IEC_TIME_MODEL = re.compile("(?:T|TIME)#(-)?(?:(%(float)s)D_?)?(?:(%(float)s)H_?)?(?:(%(float)s)M(?!S)_?)?(?:(%(float)s)S_?)?(?:(%(float)s)MS)?$" % {"float": "[0-9]+(?:\.[0-9]+)?"})
 
-CONTROLS = [
-    ("Days", _('Days:')),
-    ("Hours", _('Hours:')),
-    ("Minutes", _('Minutes:')),
-    ("Seconds", _('Seconds:')),
-    ("Milliseconds", _('Milliseconds:')),
-    ("Microseconds", _('Microseconds:')),
-]
 
 # -------------------------------------------------------------------------------
 #                         Edit Duration Value Dialog
@@ -61,6 +53,15 @@
     def __init__(self, parent):
         wx.Dialog.__init__(self, parent, title=_('Edit Duration'))
 
+        CONTROLS = [
+            ("Days", _('Days:')),
+            ("Hours", _('Hours:')),
+            ("Minutes", _('Minutes:')),
+            ("Seconds", _('Seconds:')),
+            ("Milliseconds", _('Milliseconds:')),
+            ("Microseconds", _('Microseconds:')),
+        ]
+
         main_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=10)
         main_sizer.AddGrowableCol(0)
         main_sizer.AddGrowableRow(0)
diff -r c44692b53736 -r 4d7cee25a474 dialogs/FBDVariableDialog.py
--- a/dialogs/FBDVariableDialog.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/dialogs/FBDVariableDialog.py	Tue Oct 02 15:57:26 2018 +0200
@@ -34,16 +34,6 @@
 #                                    Helpers
 # -------------------------------------------------------------------------------
 
-# Dictionaries containing correspondence between variable block class and string
-# to be shown in Class combo box in both sense
-VARIABLE_CLASSES_DICT = {
-    INPUT:  _("Input"),
-    INOUT:  _("InOut"),
-    OUTPUT: _("Output")
-}
-
-VARIABLE_CLASSES_DICT_REVERSE = dict(
-    [(value, key) for key, value in VARIABLE_CLASSES_DICT.iteritems()])
 
 # -------------------------------------------------------------------------------
 #                        Set Variable Parameters Dialog
@@ -67,6 +57,17 @@
         BlockPreviewDialog.__init__(self, parent, controller, tagname,
                                     title=_('Variable Properties'))
 
+        # Dictionaries containing correspondence between variable block class and string
+        # to be shown in Class combo box in both sense
+        self.VARIABLE_CLASSES_DICT = {
+            INPUT:  _("Input"),
+            INOUT:  _("InOut"),
+            OUTPUT: _("Output")
+        }
+
+        self.VARIABLE_CLASSES_DICT_REVERSE = dict(
+            [(value, key) for key, value in self.VARIABLE_CLASSES_DICT.iteritems()])
+
         # Init common sizers
         self._init_sizers(4, 2, 4, None, 3, 2)
 
@@ -119,7 +120,7 @@
             flag=wx.ALIGN_RIGHT | wx.BOTTOM | wx.LEFT | wx.RIGHT)
 
         # Set options that can be selected in class combo box
-        for var_class, choice in VARIABLE_CLASSES_DICT.iteritems():
+        for var_class, choice in self.VARIABLE_CLASSES_DICT.iteritems():
             if not exclude_input or var_class != INPUT:
                 self.Class.Append(choice)
         self.Class.SetSelection(0)
@@ -141,7 +142,7 @@
         Called to refresh names in name list box
         """
         # Get variable class to select POU variable applicable
-        var_class = VARIABLE_CLASSES_DICT_REVERSE[
+        var_class = self.VARIABLE_CLASSES_DICT_REVERSE[
             self.Class.GetStringSelection()]
 
         # Refresh names in name list box by selecting variables in POU variables
@@ -172,7 +173,7 @@
         var_class = values.get("class", None)
         if var_class is not None:
             # Set class selected in class combo box
-            self.Class.SetStringSelection(VARIABLE_CLASSES_DICT[var_class])
+            self.Class.SetStringSelection(self.VARIABLE_CLASSES_DICT[var_class])
             # Refresh names in name list box according to var class
             self.RefreshNameList()
 
@@ -204,7 +205,7 @@
         """
         expression = self.Expression.GetValue()
         values = {
-            "class": VARIABLE_CLASSES_DICT_REVERSE[
+            "class": self.VARIABLE_CLASSES_DICT_REVERSE[
                 self.Class.GetStringSelection()],
             "expression": expression,
             "var_type": self.VariableList.get(expression, (None, None))[1],
@@ -288,7 +289,7 @@
         # Set graphic element displayed, creating a FBD variable element
         self.Element = FBD_Variable(
             self.Preview,
-            VARIABLE_CLASSES_DICT_REVERSE[self.Class.GetStringSelection()],
+            self.VARIABLE_CLASSES_DICT_REVERSE[self.Class.GetStringSelection()],
             name,
             self.VariableList.get(name, ("", ""))[1],
             executionOrder=self.ExecutionOrder.GetValue())
diff -r c44692b53736 -r 4d7cee25a474 dialogs/PouActionDialog.py
--- a/dialogs/PouActionDialog.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/dialogs/PouActionDialog.py	Tue Oct 02 15:57:26 2018 +0200
@@ -36,14 +36,14 @@
     return [_("IL"), _("ST"), _("LD"), _("FBD")]
 
 
-ACTION_LANGUAGES_DICT = dict([(_(language), language) for language in GetActionLanguages()])
-
-
 class PouActionDialog(wx.Dialog):
 
     def __init__(self, parent):
         wx.Dialog.__init__(self, parent, title=_('Create a new action'))
 
+        self.ACTION_LANGUAGES_DICT = dict([(_(language), language)
+                                           for language in GetActionLanguages()])
+
         main_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=10)
         main_sizer.AddGrowableCol(0)
         main_sizer.AddGrowableRow(0)
@@ -131,5 +131,5 @@
     def GetValues(self):
         values = {}
         values["actionName"] = self.ActionName.GetValue()
-        values["language"] = ACTION_LANGUAGES_DICT[self.Language.GetStringSelection()]
+        values["language"] = self.ACTION_LANGUAGES_DICT[self.Language.GetStringSelection()]
         return values
diff -r c44692b53736 -r 4d7cee25a474 dialogs/PouDialog.py
--- a/dialogs/PouDialog.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/dialogs/PouDialog.py	Tue Oct 02 15:57:26 2018 +0200
@@ -31,29 +31,27 @@
 from util.TranslationCatalogs import NoTranslate
 
 
-def GetPouTypes():
-    _ = NoTranslate
-    return [_("function"), _("functionBlock"), _("program")]
-
-
-POU_TYPES_DICT = dict([(_(pou_type), pou_type) for pou_type in GetPouTypes()])
-
-
-def GetPouLanguages():
-    _ = NoTranslate
-    return [_("IL"), _("ST"), _("LD"), _("FBD"), _("SFC")]
-
-
 class PouDialog(wx.Dialog):
-
-    POU_LANGUAGES = GetPouLanguages()
-    POU_LANGUAGES_DICT = dict([(_(language), language) for language in POU_LANGUAGES])
+    """
+    Dialog to create new POU.
+    It allows selection of POU type, name and
+    used IEC 61131-3 programming language
+    """
+
+    POU_TYPES = None
+    POU_TYPES_DICT = None
+    POU_LANGUAGES = None
+    POU_LANGUAGES_DICT = None
 
     def __init__(self, parent, pou_type=None, type_readonly=False):
         wx.Dialog.__init__(self, id=-1, parent=parent,
                            name='PouDialog', title=_('Create a new POU'),
                            style=wx.DEFAULT_DIALOG_STYLE)
 
+        if PouDialog.POU_TYPES_DICT is None:
+            self.InitPouTypesDict()
+            self.InitPouLanguagesDict()
+
         main_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=10)
         main_sizer.AddGrowableCol(0)
         main_sizer.AddGrowableRow(0)
@@ -92,7 +90,7 @@
 
         self.SetSizer(main_sizer)
 
-        for option in GetPouTypes():
+        for option in self.POU_TYPES:
             if not type_readonly or _(option) == _(pou_type):
                 self.PouType.Append(_(option))
         if pou_type is not None:
@@ -102,6 +100,43 @@
         self.PouNames = []
         self.PouElementNames = []
 
+    def InitPouTypes(self):
+        """
+        Initialize POU_TYPES class list.
+        This list contains not translated POU types used in PLCopen XML.
+        _() are necessary so mk18n.py could find these string for localization.
+        """
+        _ = NoTranslate
+        self.__class__.POU_TYPES = [_("function"), _("functionBlock"), _("program")]
+
+    def InitPouTypesDict(self):
+        """
+        Initialize POU_TYPES_DICT class dictionary and POU_TYPE list
+        Dictionary contains localized POU types and they are shown in UI.
+        """
+        self.InitPouTypes()
+        self.__class__.POU_TYPES_DICT = dict([(_(pou_type), pou_type)
+                                              for pou_type in self.POU_TYPES])
+
+    def InitPouLanguages(self):
+        """
+        Initialize POU_LANGUAGES class list.
+        This list contains not translated programming languages used in PLCopen XML.
+        _() are necessary so mk18n.py could find these string for localization.
+        """
+        _ = NoTranslate
+        self.__class__.POU_LANGUAGES = [_("IL"), _("ST"), _("LD"), _("FBD"), _("SFC")]
+
+    def InitPouLanguagesDict(self):
+        """
+        Initialize POU_LANGUAGES_DICT class dictionary and POU_LANGUAGES list
+        Dictionary contains localized names for programming languages
+        as they are shown in UI.
+        """
+        self.InitPouLanguages()
+        self.__class__.POU_LANGUAGES_DICT = dict([(_(language), language)
+                                                  for language in self.POU_LANGUAGES])
+
     def OnOK(self, event):
         error = []
         pou_name = self.PouName.GetValue()
@@ -150,7 +185,7 @@
         selection = self.POU_LANGUAGES_DICT.get(self.Language.GetStringSelection(), "")
         self.Language.Clear()
         for language in self.POU_LANGUAGES:
-            if language != "SFC" or POU_TYPES_DICT[self.PouType.GetStringSelection()] != "function":
+            if language != "SFC" or self.POU_TYPES_DICT[self.PouType.GetStringSelection()] != "function":
                 self.Language.Append(_(language))
         if self.Language.FindString(_(selection)) != wx.NOT_FOUND:
             self.Language.SetStringSelection(_(selection))
@@ -177,6 +212,6 @@
     def GetValues(self):
         values = {}
         values["pouName"] = self.PouName.GetValue()
-        values["pouType"] = POU_TYPES_DICT[self.PouType.GetStringSelection()]
+        values["pouType"] = self.POU_TYPES_DICT[self.PouType.GetStringSelection()]
         values["language"] = self.POU_LANGUAGES_DICT[self.Language.GetStringSelection()]
         return values
diff -r c44692b53736 -r 4d7cee25a474 dialogs/PouTransitionDialog.py
--- a/dialogs/PouTransitionDialog.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/dialogs/PouTransitionDialog.py	Tue Oct 02 15:57:26 2018 +0200
@@ -40,14 +40,13 @@
     return [_("IL"), _("ST"), _("LD"), _("FBD")]
 
 
-TRANSITION_LANGUAGES_DICT = dict([(_(language), language) for language in GetTransitionLanguages()])
-
-
 class PouTransitionDialog(wx.Dialog):
-
     def __init__(self, parent):
         wx.Dialog.__init__(self, parent, title=_('Create a new transition'))
 
+        self.TRANSITION_LANGUAGES_DICT = dict([(_(language), language)
+                                               for language in GetTransitionLanguages()])
+
         main_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=10)
         main_sizer.AddGrowableCol(0)
         main_sizer.AddGrowableRow(0)
@@ -133,5 +132,5 @@
     def GetValues(self):
         values = {}
         values["transitionName"] = self.TransitionName.GetValue()
-        values["language"] = TRANSITION_LANGUAGES_DICT[self.Language.GetStringSelection()]
+        values["language"] = self.TRANSITION_LANGUAGES_DICT[self.Language.GetStringSelection()]
         return values
diff -r c44692b53736 -r 4d7cee25a474 editors/FileManagementPanel.py
--- a/editors/FileManagementPanel.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/editors/FileManagementPanel.py	Tue Oct 02 15:57:26 2018 +0200
@@ -34,8 +34,6 @@
 from util.BitmapLibrary import GetBitmap
 from controls import FolderTree
 
-FILTER = _("All files (*.*)|*.*|CSV files (*.csv)|*.csv")
-
 
 class FileManagementPanel(EditorPanel):
 
@@ -50,6 +48,7 @@
         managed_dir_label = wx.StaticText(self.Editor, label=_(self.TagName) + ":")
         left_sizer.AddWindow(managed_dir_label, border=5, flag=wx.GROW | wx.BOTTOM)
 
+        FILTER = _("All files (*.*)|*.*|CSV files (*.csv)|*.csv")
         self.ManagedDir = FolderTree(self.Editor, self.Folder, FILTER)
         left_sizer.AddWindow(self.ManagedDir, 1, flag=wx.GROW)
 
diff -r c44692b53736 -r 4d7cee25a474 editors/ResourceEditor.py
--- a/editors/ResourceEditor.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/editors/ResourceEditor.py	Tue Oct 02 15:57:26 2018 +0200
@@ -81,9 +81,6 @@
     return [_("Interrupt"), _("Cyclic")]
 
 
-TASKTRIGGERINGOPTIONS_DICT = dict([(_(option), option) for option in GetTaskTriggeringOptions()])
-
-
 def SingleCellEditor(*x):
     return wx.grid.GridCellChoiceEditor()
 
@@ -98,7 +95,6 @@
 
 
 class ResourceTable(CustomTable):
-
     """
     A custom wx.grid.Grid Table using user supplied data
     """
@@ -107,6 +103,8 @@
         CustomTable.__init__(self, parent, data, colnames)
         self.ColAlignements = []
         self.ColSizes = []
+        self.TASKTRIGGERINGOPTIONS_DICT = dict([(_(option), option)
+                                                for option in GetTaskTriggeringOptions()])
 
     def GetColAlignements(self):
         return self.ColAlignements
@@ -132,7 +130,7 @@
         if col < len(self.colnames):
             colname = self.GetColLabelValue(col, False)
             if colname == "Triggering":
-                value = TASKTRIGGERINGOPTIONS_DICT[value]
+                value = self.TASKTRIGGERINGOPTIONS_DICT[value]
             self.data[row][colname] = value
 
     def _updateColAttrs(self, grid):
diff -r c44692b53736 -r 4d7cee25a474 editors/Viewer.py
--- a/editors/Viewer.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/editors/Viewer.py	Tue Oct 02 15:57:26 2018 +0200
@@ -470,7 +470,7 @@
 
 
 class DebugInstanceName(DebugDataConsumer):
-    VALUE_TRANSLATION = {True: _("Active"), False: _("Inactive")}
+    VALUE_TRANSLATION = None
 
     def __init__(self, parent):
         DebugDataConsumer.__init__(self)
@@ -480,6 +480,9 @@
         self.x_offset = 2
         self.y_offset = 2
 
+        if self.VALUE_TRANSLATION is None:
+            self.__class__.VALUE_TRANSLATION = {True: _("Active"), False: _("Inactive")}
+
     def SetValue(self, value):
         self.ActionState = value
         if self.ActionState != self.ActionLastState:
diff -r c44692b53736 -r 4d7cee25a474 etherlab/__init__.py
--- a/etherlab/__init__.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/etherlab/__init__.py	Tue Oct 02 15:57:26 2018 +0200
@@ -1,1 +1,7 @@
-from etherlab import *
\ No newline at end of file
+from __future__ import absolute_import
+
+from etherlab.etherlab import *
+from util.BitmapLibrary import AddBitmapFolder
+import util.paths as paths
+
+AddBitmapFolder(os.path.join(paths.AbsDir(__file__), "images"))
diff -r c44692b53736 -r 4d7cee25a474 modbus/modbus.py
--- a/modbus/modbus.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/modbus/modbus.py	Tue Oct 02 15:57:26 2018 +0200
@@ -788,7 +788,7 @@
 
         LDFLAGS = []
         LDFLAGS.append(" \"-L" + ModbusPath + "\"")
-        LDFLAGS.append(" -lmb ")
+        LDFLAGS.append(os.path.join(ModbusPath, "libmb.a"))
         LDFLAGS.append(" \"-Wl,-rpath," + ModbusPath + "\"")
         # LDFLAGS.append("\"" + os.path.join(ModbusPath, "mb_slave_and_master.o") + "\"")
         # LDFLAGS.append("\"" + os.path.join(ModbusPath, "mb_slave.o") + "\"")
diff -r c44692b53736 -r 4d7cee25a474 runtime_files.list
--- a/runtime_files.list	Tue Oct 02 15:56:09 2018 +0200
+++ b/runtime_files.list	Tue Oct 02 15:57:26 2018 +0200
@@ -16,3 +16,4 @@
 runtime/typemapping.py 
 runtime/loglevels.py 
 Beremiz_service.py
+version.py
\ No newline at end of file
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/beremiz.xml
--- a/tests/ethercat/wago_higen/beremiz.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BeremizRoot>
-  <TargetType/>
-</BeremizRoot>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/baseconfnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="ethercat" IEC_Channel="0"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/confnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<EtherlabInstance/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/baseconfnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="master" IEC_Channel="0"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,127 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<EtherCATConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd">
-  <Config>
-    <Master>
-      <Info>
-        <Name></Name>
-        <Destination>00</Destination>
-        <Source>00</Source>
-      </Info>
-    </Master>
-    <Slave>
-      <Info>
-        <Name>EK1100</Name>
-        <PhysAddr>0</PhysAddr>
-        <AutoIncAddr>0</AutoIncAddr>
-        <Physics></Physics>
-        <VendorId>2</VendorId>
-        <ProductCode>72100946</ProductCode>
-        <RevisionNo>65536</RevisionNo>
-        <SerialNo>0</SerialNo>
-      </Info>
-      <Mailbox>
-        <Send>
-          <Start>0</Start>
-          <Length>0</Length>
-        </Send>
-        <Recv>
-          <Start>0</Start>
-          <Length>0</Length>
-        </Recv>
-        <CoE>
-          <InitCmds/>
-        </CoE>
-      </Mailbox>
-    </Slave>
-    <Slave>
-      <Info>
-        <Name>EL1088</Name>
-        <PhysAddr>1</PhysAddr>
-        <AutoIncAddr>0</AutoIncAddr>
-        <Physics></Physics>
-        <VendorId>2</VendorId>
-        <ProductCode>71315538</ProductCode>
-        <RevisionNo>1048576</RevisionNo>
-        <SerialNo>0</SerialNo>
-      </Info>
-      <Mailbox>
-        <Send>
-          <Start>0</Start>
-          <Length>0</Length>
-        </Send>
-        <Recv>
-          <Start>0</Start>
-          <Length>0</Length>
-        </Recv>
-        <CoE>
-          <InitCmds/>
-        </CoE>
-      </Mailbox>
-    </Slave>
-    <Slave>
-      <Info>
-        <Name>EL2088</Name>
-        <PhysAddr>2</PhysAddr>
-        <AutoIncAddr>0</AutoIncAddr>
-        <Physics></Physics>
-        <VendorId>2</VendorId>
-        <ProductCode>136851538</ProductCode>
-        <RevisionNo>1048576</RevisionNo>
-        <SerialNo>0</SerialNo>
-      </Info>
-    </Slave>
-    <Slave>
-      <Info>
-        <Name>EDA7000 CoE Drive</Name>
-        <PhysAddr>3</PhysAddr>
-        <AutoIncAddr>0</AutoIncAddr>
-        <Physics></Physics>
-        <VendorId>1573</VendorId>
-        <ProductCode>1768449365</ProductCode>
-        <RevisionNo>3</RevisionNo>
-        <SerialNo>0</SerialNo>
-      </Info>
-      <Mailbox>
-        <Send>
-          <Start>0</Start>
-          <Length>0</Length>
-        </Send>
-        <Recv>
-          <Start>0</Start>
-          <Length>0</Length>
-        </Recv>
-        <CoE>
-          <InitCmds>
-            <InitCmd>
-              <Transition>II</Transition>
-              <Comment>Configure limit switches signal</Comment>
-              <Timeout>0</Timeout>
-              <Ccs>0</Ccs>
-              <Index>8229</Index>
-              <SubIndex>0</SubIndex>
-              <Data>07</Data>
-            </InitCmd>
-            <InitCmd>
-              <Transition>II</Transition>
-              <Comment></Comment>
-              <Timeout>0</Timeout>
-              <Ccs>0</Ccs>
-              <Index>24800</Index>
-              <SubIndex>0</SubIndex>
-              <Data>05DC</Data>
-            </InitCmd>
-            <InitCmd>
-              <Transition>II</Transition>
-              <Comment></Comment>
-              <Timeout>0</Timeout>
-              <Ccs>0</Ccs>
-              <Index>24801</Index>
-              <SubIndex>0</SubIndex>
-              <Data>05DC</Data>
-            </InitCmd>
-          </InitCmds>
-        </CoE>
-      </Mailbox>
-    </Slave>
-  </Config>
-</EtherCATConfig>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/confnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<EtherlabNode/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="coupler" IEC_Channel="0"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<SlaveParams/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/baseconfnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="higen" IEC_Channel="3"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<CIA402SlaveParams EnableDigitalInputs="true" RatioNumerator="65536" RatioDenominator="360" PositionOffset="0" LimitSwitchNC="false" HomingLimitWindow="10" HomingVelocity="360" TorqueRatioNumerator="10" TorqueRatioDenominator="1"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="inputs" IEC_Channel="1"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<SlaveParams/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="outputs" IEC_Channel="2"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<SlaveParams/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<ProcessVariables xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EKxxxx.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EKxxxx.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,776 +0,0 @@
-<?xml version="1.0"?>
-<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
-	<Vendor>
-		<Id>2</Id>
-		<Name>Beckhoff Automation GmbH</Name>
-		<ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9</ImageData16x14>
-	</Vendor>
-	<Descriptions>
-		<Groups>
-			<Group SortOrder="390">
-				<Type>System</Type>
-				<Name LcId="1033">System Terminals</Name>
-				<Name LcId="1031">System Klemmen</Name>
-				<Image16x14>TERM_SYS</Image16x14>
-			</Group>
-			<Group SortOrder="391">
-				<Type>SystemBk</Type>
-				<Name LcId="1033">System Couplers</Name>
-				<Name LcId="1031">System Koppler</Name>
-				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
-			</Group>
-			<Group SortOrder="392">
-				<Type>Customer</Type>
-				<Name LcId="1033">Customer specific Terminals</Name>
-				<Name LcId="1031">Kundenspezifische Klemmen</Name>
-				<Image16x14>TERM_CUST</Image16x14>
-			</Group>
-		</Groups>
-		<Devices>
-			<Device Physics="YKY">
-				<Type ProductCode="#x044c2c52" RevisionNo="#x00000000">EK1100</Type>
-				<HideType ProductCode="#x044c2c52" RevisionNo="#x27070000" ProductRevision="EK1100-0000-9991"/>
-				<HideType ProductCode="#x044c2c52" RevisionNo="#x27080000" ProductRevision="EK1100-0000-9992"/>
-				<HideType ProductCode="#x044c2c52" RevisionNo="#x270b0000" ProductRevision="EK1100-0000-9995"/>
-				<HideType ProductCode="#x04b02c50" RevisionNo="#x00000000" ProductRevision="EK1200-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (0.5A E-Bus)]]></Name>
-				<Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (0.5A E-Bus)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>-500</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>SystemBk</GroupType>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0001</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="YKY">
-				<Type ProductCode="#x044c2c52" RevisionNo="#x00010000">EK1100</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EK1100-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (2A E-Bus)]]></Name>
-				<Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (2A E-Bus)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>-2000</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>SystemBk</GroupType>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0001</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="YKY">
-				<Type ProductCode="#x044c2c52" RevisionNo="#x00100000">EK1100</Type>
-				<HideType RevisionNo="#x00010000" ProductRevision="EK1100-0000-0001"/>
-				<Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (2A E-Bus)]]></Name>
-				<Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (2A E-Bus)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>-2000</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>SystemBk</GroupType>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0001</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="YKY">
-				<Type ProductCode="#x044c2c52" RevisionNo="#x00110000">EK1100</Type>
-				<HideType RevisionNo="#x00100000" ProductRevision="EK1100-0000-0010"/>
-				<Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (2A E-Bus)]]></Name>
-				<Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (2A E-Bus)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>-2000</EBusCurrent>
-					</Electrical>
-					<Port>
-						<Type>MII</Type>
-						<Label>X1 IN</Label>
-					</Port>
-					<Port>
-						<Type>EBUS</Type>
-					</Port>
-					<Port>
-						<Type>MII</Type>
-						<Label>X2 OUT</Label>
-					</Port>
-				</Info>
-				<GroupType>SystemBk</GroupType>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>000D</ConfigData>
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-			</Device>
-			<Device Physics="YK">
-				<Type ProductCode="#x044c2c52" RevisionNo="#x0010001e">EK1100-0030</Type>
-				<Name LcId="1033"><![CDATA[EK1100-0030 EtherCAT Coupler (2A E-Bus, 4kV galv. iso.)]]></Name>
-				<Name LcId="1031"><![CDATA[EK1100-0030 EtherCAT-Koppler (2A E-Bus, 4kV galv. Iso.)]]></Name>
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-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
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-					<Electrical>
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-			<Device Physics="YKY">
-				<Type ProductCode="#x044d2c52" RevisionNo="#x00100000">EK1101</Type>
-				<Name LcId="1033"><![CDATA[EK1101 EtherCAT Coupler (2A E-Bus, ID switch)]]></Name>
-				<Name LcId="1031"><![CDATA[EK1101 EtherCAT-Koppler (2A E-Bus, ID-Switch)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1101]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1101]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>-2000</EBusCurrent>
-					</Electrical>
-					<IdentificationAdo>#x1000</IdentificationAdo>
-				</Info>
-				<GroupType>SystemBk</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
-				<TxPdo Fixed="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>ID</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>ID</Name>
-						<DataType>UINT</DataType>
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-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
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-		</Devices>
-	</Descriptions>
-</EtherCATInfo>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EL1xxx.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EL1xxx.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,5333 +0,0 @@
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-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03f03052" RevisionNo="#x00100000">EL1008</Type>
-				<Name LcId="1033"><![CDATA[EL1008 8Ch. Dig. Input 24V, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1008 8K. Dig. Eingang 24V, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1008]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1008]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03f43052" RevisionNo="#x00000000">EL1012</Type>
-				<HideType RevisionNo="#x27070000" ProductRevision="EL1012-0000-9991"/>
-				<HideType RevisionNo="#x27080000" ProductRevision="EL1012-0000-9992"/>
-				<HideType RevisionNo="#x270b0000" ProductRevision="EL1012-0000-9995"/>
-				<Name LcId="1033"><![CDATA[EL1012 2Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1012 2K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1012]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1012]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0101</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03f43052" RevisionNo="#x00100000">EL1012</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL1012-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL1012 2Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1012 2K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1012]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1012]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03f63052" RevisionNo="#x00000000">EL1014</Type>
-				<HideType RevisionNo="#x27070000" ProductRevision="EL1014-0000-9991"/>
-				<HideType RevisionNo="#x27080000" ProductRevision="EL1014-0000-9992"/>
-				<HideType RevisionNo="#x270b0000" ProductRevision="EL1014-0000-9995"/>
-				<Name LcId="1033"><![CDATA[EL1014 4Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1014 4K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0101</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03f63052" RevisionNo="#x00100000">EL1014</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL1014-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL1014 4Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1014 4K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03F63052" RevisionNo="#x0000000A">EL1014-0010</Type>
-				<Name LcId="1033"><![CDATA[EL1014-0010 4Ch. Dig. Input 24V, isolated, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1014-0010 4K. Dig. Eingang 24V, galv. getrennt, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0101</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03F63052" RevisionNo="#x0010000A">EL1014-0010</Type>
-				<HideType RevisionNo="#x0000000A" ProductRevision="EL1014-0010-0000"/>
-				<Name LcId="1033"><![CDATA[EL1014-0010 4Ch. Dig. Input 24V, isolated, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1014-0010 4K. Dig. Eingang 24V, galv. getrennt, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03fa3052" RevisionNo="#x00100000">EL1018</Type>
-				<Name LcId="1033"><![CDATA[EL1018 8Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1018 8K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1018]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1018]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
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-					<Name>Channel 8</Name>
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-				<Eeprom>
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-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04003052" RevisionNo="#x00100000">EL1024</Type>
-				<Name LcId="1033"><![CDATA[EL1024 4Ch. Dig. Input 24V, Type 2, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1024 4K. Dig. Eingang 24V, Typ-2, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1024]]></URL>
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-				<Info>
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-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
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-						<Name>Input</Name>
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-					</Entry>
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-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
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-						<Name>Input</Name>
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-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x040a3052" RevisionNo="#x00100000">EL1034</Type>
-				<Name LcId="1033"><![CDATA[EL1034 4Ch. Dig. Input 24V, potential-free, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1034 4K. Dig. Eingang 24V, potenzialfrei, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1034]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1034]]></URL>
-				<Info>
-					<Electrical>
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-					</Electrical>
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-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
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-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
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-						<Name>Input</Name>
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-					<Name>Channel 4</Name>
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-				<Eeprom>
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-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x043c3052" RevisionNo="#x00100000">EL1084</Type>
-				<Name LcId="1033"><![CDATA[EL1084 4Ch. Dig. Input 24V, 3ms, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL1084 4K. Dig. Eingang 24V, 3ms, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1084]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1084]]></URL>
-				<Info>
-					<Electrical>
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-				<GroupType>DigIn</GroupType>
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-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
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-						<Index>#x6000</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
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-					<Index>#x1a01</Index>
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-						<Index>#x6010</Index>
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-						<Name>Input</Name>
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-				</TxPdo>
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-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04403052" RevisionNo="#x00100000">EL1088</Type>
-				<Name LcId="1033"><![CDATA[EL1088 8Ch. Dig. Input 24V, 3ms, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL1088 8K. Dig. Eingang 24V, 3ms, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1088]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1088]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
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-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
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-						<Name>Input</Name>
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-				</TxPdo>
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-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
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-						<Name>Input</Name>
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-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
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-						<Index>#x6050</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
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-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
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-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
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-						<Index>#x6070</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000f000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04463052" RevisionNo="#x00100000">EL1094</Type>
-				<Name LcId="1033"><![CDATA[EL1094 4Ch. Dig. Input 24V, 10µs, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL1094 4K. Dig. Eingang 24V, 10µs, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1094]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1094]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x044a3052" RevisionNo="#x00100000">EL1098</Type>
-				<Name LcId="1033"><![CDATA[EL1098 8Ch. Dig. Input 24V, 10µs, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL1098 8K. Dig. Eingang 24V, 10µs, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1098]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1098]]></URL>
-				<Info>
-					<Electrical>
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-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
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-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
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-						<Name>Input</Name>
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-						<Name>Input</Name>
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-					</Entry>
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-					<Name>Channel 5</Name>
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-						<Name>Input</Name>
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-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
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-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
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-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000f000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04503052" RevisionNo="#x00100000">EL1104</Type>
-				<Name LcId="1033"><![CDATA[EL1104 4Ch. Dig. Input 24V, 3ms, Sensor Power]]></Name>
-				<Name LcId="1031"><![CDATA[EL1104 4K. Dig. Eingang 24V, 3ms, Sensorversorgung]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1104]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1104]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
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-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
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-					<Name>Channel 4</Name>
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-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x045a3052" RevisionNo="#x00100000">EL1114</Type>
-				<Name LcId="1033"><![CDATA[EL1114 4Ch. Dig. Input 24V, 10µs, Sensor Power]]></Name>
-				<Name LcId="1031"><![CDATA[EL1114 4K. Dig. Eingang 24V, 10µs, Sensorversorgung]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1114]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1114]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04643052" RevisionNo="#x00100000">EL1124</Type>
-				<Name LcId="1033"><![CDATA[EL1124 4Ch. Dig. Input 5V, 10µs, Sensor Power]]></Name>
-				<Name LcId="1031"><![CDATA[EL1124 4K. Dig. Eingang 5V, 10µs, Sensorversorgung]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1124]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1124]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x046e3052" RevisionNo="#x00100000">EL1134</Type>
-				<Name LcId="1033"><![CDATA[EL1134 4Ch. Dig. Input 48V, 10µs, Sensor Power]]></Name>
-				<Name LcId="1031"><![CDATA[EL1134 4K. Dig. Eingang 48V, 10µs, Sensorversorgung]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1134]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1134]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04783052" RevisionNo="#x00100000">EL1144</Type>
-				<Name LcId="1033"><![CDATA[EL1144 4Ch. Dig. Input 12V, 10µs, Sensor Power]]></Name>
-				<Name LcId="1031"><![CDATA[EL1144 4K. Dig. Eingang 12V, 10µs, Sensorversorgung]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1144]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1144]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04b23052" RevisionNo="#x00100000">EL1202</Type>
-				<AlternativeType RevisionNo="#x00100064"/>
-				<Name LcId="1033"><![CDATA[EL1202 2Ch. Fast Dig. Input 24V, 1µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1202 2K. Fast Dig. Eingang 24V, 1µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1202]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04b23052" RevisionNo="#x00100064">EL1202-0100</Type>
-				<AlternativeType RevisionNo="#x00100000"/>
-				<Name LcId="1033"><![CDATA[EL1202-0100 2Ch. Fast Dig. Input 24V, 1µs, DC Latch]]></Name>
-				<Name LcId="1031"><![CDATA[EL1202-0100 2K. Fast Dig. Eingang 24V, 1µs, DC Latch]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1202]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu Sm="0" Su="0">Inputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Sm StartAddress="#x0990" Virtual="true">Inputs</Sm>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
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-						<BitLen>6</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1a02</Index>
-					<Name>Reserved</Name>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a10</Index>
-					<Name>DC</Name>
-					<Exclude>#x1a11</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>NextLatchTime</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
-					<Index>#x1a11</Index>
-					<Name>DC</Name>
-					<Exclude>#x1a10</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>NextLatchTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcLatch</Name>
-						<Desc>DC Latch</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401200080000000</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04E43052" RevisionNo="#x00110000">EL1252</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL1252-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL1252 2Ch. Fast Dig. Input 24V, 1µs, DC Latch]]></Name>
-				<Name LcId="1031"><![CDATA[EL1252 2K. Fast Dig. Eingang 24V, 1µs, DC Latch]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu Sm="0" Su="0">Inputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Inputs</Fmmu>
-				<Fmmu Sm="2" Su="2">Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="#x22" Enable="1">Inputs</Sm>
-				<Sm StartAddress="#x09ae" Virtual="true">Inputs</Sm>
-				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a10</Index>
-					<Name>Latch</Name>
-					<Exclude>#x1a11</Exclude>
-					<Exclude>#x1a12</Exclude>
-					<Exclude>#x1a13</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xae</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status0</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xaf</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status1</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
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-					<Name>Latch</Name>
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-					<Entry>
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-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a12</Index>
-					<Name>Latch</Name>
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-					<Exclude>#x1a13</Exclude>
-					<Entry>
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-					<Entry>
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-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
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-						<BitLen>64</BitLen>
-						<Name>LatchPos0</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
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-						<SubIndex>#xb8</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchNeg0</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true" Sm="1">
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-					<Name>Latch</Name>
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-					<Exclude>#x1a12</Exclude>
-					<Entry>
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-						<Name>Status0</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
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-						<Name>Status1</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
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-						<SubIndex>#xb0</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchPos0</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
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-						<SubIndex>#xb8</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchNeg0</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xc0</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchPos1</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xc8</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchNeg1</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="2" Virtual="true">
-					<Index>#x1a14</Index>
-					<Name>SysTime</Name>
-					<Exclude>#x1a15</Exclude>
-					<Entry>
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-						<BitLen>32</BitLen>
-						<Name>SysTime</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="2" Virtual="true">
-					<Index>#x1a15</Index>
-					<Name>SysTime</Name>
-					<Exclude>#x1a14</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x10</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>SysTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a16</Index>
-					<Name>Latch</Name>
-					<Exclude>#x1a10</Exclude>
-					<Exclude>#x1a11</Exclude>
-					<Exclude>#x1a12</Exclude>
-					<Exclude>#x1a13</Exclude>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>16</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchPos1</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>19</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchNeg1</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchPos2</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>19</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchNeg2</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcLatch</Name>
-						<Desc>DC Latch Settings</Desc>
-						<AssignActivate>#x0100</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04E43052" RevisionNo="#x0013000A">EL1252-0010</Type>
-				<Name LcId="1033"><![CDATA[EL1252-0010 2Ch. Fast Dig. Input 24V, 10µs, DC Latch]]></Name>
-				<Name LcId="1031"><![CDATA[EL1252-0010 2K. Fast Dig. Eingang 24V, 10µs, DC Latch]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard (MDP 125)</Name>
-								<Sm No="0">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-								<Sm No="1">
-									<Pdo>#x1a13</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Line Motion (MDP 125)</Name>
-								<Sm No="0">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-								<Sm No="1">
-									<Pdo>#x1a16</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>125</AddInfo>
-					<ChannelCount>2</ChannelCount>
-				</Profile>
-				<Fmmu Sm="0" Su="0">Inputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Inputs</Fmmu>
-				<Fmmu Sm="2" Su="2">Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="#x22" Enable="1">Inputs</Sm>
-				<Sm StartAddress="#x09ae" Virtual="true">Inputs</Sm>
-				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
-				<TxPdo Fixed="1" Sm="0" Su="0" Mandatory="1">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0" Mandatory="1">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0" Mandatory="1">
-					<Index>#x1a02</Index>
-					<Name>Reserved</Name>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a10</Index>
-					<Name>Latch</Name>
-					<Exclude>#x1a11</Exclude>
-					<Exclude>#x1a12</Exclude>
-					<Exclude>#x1a13</Exclude>
-					<Exclude>#x1a16</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xae</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status1</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xaf</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status2</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a11</Index>
-					<Name>Latch</Name>
-					<Exclude>#x1a10</Exclude>
-					<Exclude>#x1a12</Exclude>
-					<Exclude>#x1a13</Exclude>
-					<Exclude>#x1a16</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xae</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status1</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xb0</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>LatchPos2</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a12</Index>
-					<Name>Latch</Name>
-					<Exclude>#x1a10</Exclude>
-					<Exclude>#x1a11</Exclude>
-					<Exclude>#x1a13</Exclude>
-					<Exclude>#x1a16</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xae</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status1</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xb0</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchPos1</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xb8</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchNeg1</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true" Sm="1">
-					<Index>#x1a13</Index>
-					<Name>Latch</Name>
-					<Exclude>#x1a10</Exclude>
-					<Exclude>#x1a11</Exclude>
-					<Exclude>#x1a12</Exclude>
-					<Exclude>#x1a16</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xae</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status1</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xaf</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status2</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xb0</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchPos1</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xb8</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchNeg1</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xc0</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchPos2</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xc8</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchNeg2</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="2" Virtual="true">
-					<Index>#x1a14</Index>
-					<Name>SysTime</Name>
-					<Exclude>#x1a15</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x10</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>SysTime</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="2" Virtual="true">
-					<Index>#x1a15</Index>
-					<Name>SysTime</Name>
-					<Exclude>#x1a14</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x10</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>SysTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a16</Index>
-					<Name>Latch</Name>
-					<Exclude>#x1a10</Exclude>
-					<Exclude>#x1a11</Exclude>
-					<Exclude>#x1a12</Exclude>
-					<Exclude>#x1a13</Exclude>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>16</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchPos1</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>19</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchNeg1</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchPos2</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>19</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>LatchNeg2</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcLatch</Name>
-						<Desc>DC Latch Settings</Desc>
-						<AssignActivate>#x0100</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04EE3052" RevisionNo="#x00020000">EL1262</Type>
-				<Name LcId="1033"><![CDATA[EL1262 2Ch. Dig. Input 24V, 1µs, DC Oversample]]></Name>
-				<Name LcId="1031"><![CDATA[EL1262 2K. Dig. Eingang 24V, 1µs, DC Oversample]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1262]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1262]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>070</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu Sm="0" Su="0">Inputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Inputs</Fmmu>
-				<Fmmu Sm="2" Su="2">Inputs</Fmmu>
-				<Sm StartAddress="#x1000" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<Sm StartAddress="#x1200" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<Sm StartAddress="#x0998" Virtual="true">Inputs</Sm>
-				<Su/>
-				<Su/>
-				<Su/>
-				<TxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1B00</Index>
-					<Name>Ch1 CycleCount</Name>
-					<Entry>
-						<Index>#x6800</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ch1 CycleCount</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
-					<Index>#x1A00</Index>
-					<Name>Ch1 Input</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ch1 Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
-					<Index>#x1B80</Index>
-					<Name>Ch1 Input</Name>
-					<Entry>
-						<Index>#x6100</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Ch1 Input</Name>
-						<DataType>BYTE</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1B10</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1B11</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1B12</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1B13</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1B14</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1B15</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1B16</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>7</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B01</Index>
-					<Name>Ch2 CycleCount</Name>
-					<Entry>
-						<Index>#x6800</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ch2 CycleCount</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
-					<Index>#x1A80</Index>
-					<Name>Ch2 Input</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ch2 Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
-					<Index>#x1C00</Index>
-					<Name>Ch2 Input</Name>
-					<Entry>
-						<Index>#x6100</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Ch2 Input</Name>
-						<DataType>BYTE</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B18</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B19</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B1a</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B1b</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B1c</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B1d</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B1e</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>7</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="2" Su="2" Virtual="true">
-					<Index>#x1B05</Index>
-					<Name>NextSync1Time</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x98</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>StartTimeNextLatch</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>2 Channels - No oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="1">#x1A00</Pdo>
-							<Pdo>#x1B16</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="1">#x1A80</Pdo>
-							<Pdo>#x1B1e</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 Ch. - 2 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="2">#x1A00</Pdo>
-							<Pdo>#x1B15</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="2">#x1A80</Pdo>
-							<Pdo>#x1B1d</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync4</Name>
-						<Desc>2 Ch. - 4 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="4">#x1A00</Pdo>
-							<Pdo>#x1B13</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="4">#x1A80</Pdo>
-							<Pdo>#x1B1b</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync5</Name>
-						<Desc>2 Ch. - 5 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="5">#x1A00</Pdo>
-							<Pdo>#x1B12</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="5">#x1A80</Pdo>
-							<Pdo>#x1B1a</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync8</Name>
-						<Desc>2 Ch. - 8 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="8">#x1A00</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="8">#x1A80</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync10</Name>
-						<Desc>2 Ch. - 10 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="10">#x1A00</Pdo>
-							<Pdo>#x1B15</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="10">#x1A80</Pdo>
-							<Pdo>#x1B1d</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync16</Name>
-						<Desc>2 Ch. - 16 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="16">#x1A00</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="16">#x1A80</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync20</Name>
-						<Desc>2 Ch. - 20 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="20">#x1A00</Pdo>
-							<Pdo>#x1B13</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="20">#x1A80</Pdo>
-							<Pdo>#x1B1b</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync40</Name>
-						<Desc>2 Ch. - 40 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="40">#x1A00</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="40">#x1A80</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync50</Name>
-						<Desc>2 Ch. - 50 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="50">#x1A00</Pdo>
-							<Pdo>#x1B15</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="50">#x1A80</Pdo>
-							<Pdo>#x1B1d</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync100</Name>
-						<Desc>2 Ch. - 100 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="100">#x1A00</Pdo>
-							<Pdo>#x1B13</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="100">#x1A80</Pdo>
-							<Pdo>#x1B1b</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync200</Name>
-						<Desc>2 Ch. - 200 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="25">#x1B80</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="25">#x1C00</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync400</Name>
-						<Desc>2 Ch. - 400 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="50">#x1B80</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="50">#x1C00</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync1000</Name>
-						<Desc>2 Ch. - 1000 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="125">#x1B80</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="125">#x1C00</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>2 Channels (Bits)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="1">#x1A00</Pdo>
-							<Pdo>#x1B15</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="1">#x1A80</Pdo>
-							<Pdo>#x1B1d</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b05</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 Channels (Bytes)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="1">#x1B80</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="1">#x1C00</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b05</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync_1</Name>
-						<Desc>1 Channel (Bits)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="1">#x1A00</Pdo>
-							<Pdo>#x1B15</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b05</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2_1</Name>
-						<Desc>1 Channel (Bytes)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="1">#x1B80</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b05</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0601000010000100</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x06a63052" RevisionNo="#x00100000">EL1702</Type>
-				<Name LcId="1033"><![CDATA[EL1702 2Ch. Dig. Input 120V/230V AC, 10ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1702 2K. Dig. Eingang 120V/230V AC, 10ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1702]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1702]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x06b03052" RevisionNo="#x00100000">EL1712</Type>
-				<Name LcId="1033"><![CDATA[EL1712 2Ch. Dig. Input 120V AC/DC, 10ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1712 2K. Dig. Eingang 120V AC/DC, 10ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1712]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1712]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x06ba3052" RevisionNo="#x00100000">EL1722</Type>
-				<Name LcId="1033"><![CDATA[EL1722 2Ch. Dig. Input 120V/230V AC, 10ms, no power contacts]]></Name>
-				<Name LcId="1031"><![CDATA[EL1722 2K. Dig. Eingang  120V/230V AC, 10ms, keine Powerkontakte]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1722]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1722]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x070C3052" RevisionNo="#x00100000">EL1804</Type>
-				<Name LcId="1033"><![CDATA[EL1804 4Ch. Dig. Input 24V, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1804 4K. Dig. Eingang 24V, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1804]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1804]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07103052" RevisionNo="#x00100000">EL1808</Type>
-				<Name LcId="1033"><![CDATA[EL1808 8Ch. Dig. Input 24V, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1808 8K. Dig. Eingang 24V, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1808]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1808]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07113052" RevisionNo="#x00100000">EL1809</Type>
-				<Name LcId="1033"><![CDATA[EL1809 16Ch. Dig. Input 24V, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1809 16K. Dig. Eingang 24V, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1809]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1809]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a08</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x6080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a09</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x6090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0a</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x60a0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x60b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x60c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x60d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x60e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x60f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07163052" RevisionNo="#x00100000">EL1814</Type>
-				<Name LcId="1033"><![CDATA[EL1814 4Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1814 4K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1814]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1814]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x071b3052" RevisionNo="#x00100000">EL1819</Type>
-				<Name LcId="1033"><![CDATA[EL1819 16Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1819 16K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1819]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1819]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a08</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x6080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a09</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x6090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0a</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x60a0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x60b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x60c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x60d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x60e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x60f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07433052" RevisionNo="#x00100000">EL1859</Type>
-				<Name LcId="1033"><![CDATA[EL1859 8Ch. Dig. Input 24V, 3ms, 8Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL1859 8K. Dig. Eingang 24V, 3ms, 8K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1859]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1859]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x1000" ControlByte="#x0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1608</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x7080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1609</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x7090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160A</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x70A0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160B</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x70B0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160C</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x70C0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160D</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x70D0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160E</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x70E0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160F</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x70F0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000F0FF</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07463052" RevisionNo="#x00100000">EL1862</Type>
-				<Name LcId="1033"><![CDATA[EL1862 16Ch. Dig. Input 24V, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1862 16K. Dig. Eingang 24V, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1862]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1862]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a08</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x6080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a09</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x6090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0a</Index>
-					<Name>Channel 11</Name>
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-						<Index>#x60a0</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x60b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x60c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x60d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x60e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x60f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07463052" RevisionNo="#x0010000A">EL1862-0010</Type>
-				<Name LcId="1033"><![CDATA[EL1862-0010 16Ch. Dig. Input 24V, 3ms, negativ]]></Name>
-				<Name LcId="1031"><![CDATA[EL1862-0010 16K. Dig. Eingang 24V, 3ms, negative]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1862]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1862]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07503052" RevisionNo="#x00100000">EL1872</Type>
-				<Name LcId="1033"><![CDATA[EL1872 16Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1872 16K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1872]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1872]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
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-						<Index>#x60c0</Index>
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-					<Index>#x1a0d</Index>
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-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x60e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x60f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07613052" RevisionNo="#x00100000">EL1889</Type>
-				<Name LcId="1033"><![CDATA[EL1889 16Ch. Dig. Input 24V, 3ms, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL1889 16K. Dig. Eingang 24V, 3ms, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1889]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1889]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>140</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					<Index>#x1a01</Index>
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-					<Name>Channel 5</Name>
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-					</Entry>
-				</TxPdo>
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-					<Index>#x1a07</Index>
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-						<Index>#x6070</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a08</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x6080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
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-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x6090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0a</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x60a0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x60b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x60c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x60d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x60e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x60f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-		</Devices>
-	</Descriptions>
-</EtherCATInfo>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EL2xxx.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EL2xxx.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,92654 +0,0 @@
-<?xml version="1.0"?>
-<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
-	<Vendor>
-		<Id>2</Id>
-		<Name>Beckhoff Automation GmbH</Name>
-		<ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9</ImageData16x14>
-	</Vendor>
-	<Descriptions>
-		<Groups>
-			<Group SortOrder="320">
-				<Type>DigOut</Type>
-				<Name LcId="1033">Digital Output Terminals (EL2xxx)</Name>
-				<Name LcId="1031">Digitale Ausgangklemmen (EL2xxx)</Name>
-				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000120B0000120B00000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FF808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
-			</Group>
-		</Groups>
-		<Devices>
-			<Device Physics="KK">
-				<Type ProductCode="#x07d23052" RevisionNo="#x00000000">EL2002</Type>
-				<HideType RevisionNo="#x27070000" ProductRevision="EL2002-0000-9991"/>
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-				<HideType RevisionNo="#x270b0000" ProductRevision="EL2002-0000-9995"/>
-				<Name LcId="1033"><![CDATA[EL2002 2Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2002]]></URL>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
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-					<Name>Channel 2</Name>
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-				<Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2002]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2002]]></URL>
-				<Info>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
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-						<Name>Output</Name>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
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-						<Index>#x7010</Index>
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-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-				<Eeprom>
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-				<Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2004]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2004]]></URL>
-				<Info>
-					<Electrical>
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-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
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-					<Name>Channel 2</Name>
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-						<Name>Output</Name>
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-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x3001</Index>
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-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x3001</Index>
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-						<Name>Output</Name>
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-				</RxPdo>
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-					<ByteSize>2048</ByteSize>
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-				</Eeprom>
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-			<Device Physics="KK">
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-				<HideType RevisionNo="#x00000000" ProductRevision="EL2004-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL2004 4Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2004]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2004]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
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-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
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-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
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-						<Name>Output</Name>
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-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
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-			<Device Physics="KK">
-				<Type ProductCode="#x07d83052" RevisionNo="#x00100000">EL2008</Type>
-				<Name LcId="1033"><![CDATA[EL2008 8Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2008 8K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2008]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2008]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
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-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1605</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x7050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1606</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x7060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1607</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
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-			<Device Physics="KK">
-				<Type ProductCode="#x07e63052" RevisionNo="#x00100000">EL2022</Type>
-				<Name LcId="1033"><![CDATA[EL2022 2Ch. Dig. Output 24V, 2A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2022 2K. Dig. Ausgang 24V, 2A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
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-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
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-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
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-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
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-			<Device Physics="KK">
-				<Type ProductCode="#x07e83052" RevisionNo="#x00100000">EL2024</Type>
-				<Name LcId="1033"><![CDATA[EL2024 4Ch. Dig. Output 24V, 2A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2024 4K. Dig. Ausgang 24V, 2A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
-				<Info>
-					<Electrical>
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-					</Electrical>
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-				<GroupType>DigOut</GroupType>
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-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
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-						<BitLen>1</BitLen>
-						<Name>Output</Name>
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-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
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-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-				</RxPdo>
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-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
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-			<Device Physics="KK">
-				<Type ProductCode="#x07e83052" RevisionNo="#x0010000A">EL2024-0010</Type>
-				<Name LcId="1033"><![CDATA[EL2024-0010 4Ch. Dig. Output 12V, 2A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2024-0010 4K. Dig. Ausgang 12V, 2A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
-				<Info>
-					<Electrical>
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-				<GroupType>DigOut</GroupType>
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-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
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-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
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-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
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-				<HideType RevisionNo="#x27080000" ProductRevision="EL2032-0000-9992"/>
-				<HideType RevisionNo="#x270b0000" ProductRevision="EL2032-0000-9995"/>
-				<Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A Diag]]></Name>
-				<Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A Diag]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
-				<Info>
-					<Electrical>
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-					</Electrical>
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-				<GroupType>DigOut</GroupType>
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-				<Fmmu>Inputs</Fmmu>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
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-						<Index>#x3001</Index>
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-						<DataType>BOOL</DataType>
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-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a00</Index>
-					<Name>Diag 1</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a01</Index>
-					<Name>Diag 2</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0301</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07f03052" RevisionNo="#x00100000">EL2032</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL2032-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
-				<Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a00</Index>
-					<Name>Diag 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a01</Index>
-					<Name>Diag 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04010400</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07f23052" RevisionNo="#x00100000">EL2034</Type>
-				<Name LcId="1033"><![CDATA[EL2034 4Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
-				<Name LcId="1031"><![CDATA[EL2034 4K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2034]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2034]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>120</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x1001" ControlByte="0" Enable="0">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a00</Index>
-					<Name>Diag 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a01</Index>
-					<Name>Diag 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a02</Index>
-					<Name>Diag 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a03</Index>
-					<Name>Diag 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07fa3052" RevisionNo="#x00100000">EL2042</Type>
-				<Name LcId="1033"><![CDATA[EL2042 2Ch. Dig. Output 24V, 4A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2042 2K. Dig. Ausgang 24V, 4A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2042]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2042]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>120</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08243052" RevisionNo="#x00100000">EL2084</Type>
-				<Name LcId="1033"><![CDATA[EL2084 4Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL2084 4K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2084]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2084]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08283052" RevisionNo="#x00100000">EL2088</Type>
-				<Name LcId="1033"><![CDATA[EL2088 8Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL2088 8K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2088]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2088]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1605</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x7050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1606</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x7060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1607</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x084c3052" RevisionNo="#x00100000">EL2124</Type>
-				<Name LcId="1033"><![CDATA[EL2124 4Ch. Dig. Output 5V, 20mA]]></Name>
-				<Name LcId="1031"><![CDATA[EL2124 4K. Dig. Ausgang 5V, 20mA]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2124]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2124]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x089A3052" RevisionNo="#x00000000">EL2202</Type>
-				<Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
-				<Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcOff</Name>
-						<Desc>DC unused</Desc>
-						<AssignActivate>#x0000</AssignActivate>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>DC Sync Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0201</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x089A3052" RevisionNo="#x00100000">EL2202</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL2202-0000-0000"/>
-				<AlternativeType RevisionNo="#x00100064"/>
-				<Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000FFFF</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x089A3052" RevisionNo="#x00100064">EL2202-0100</Type>
-				<AlternativeType RevisionNo="#x00100000"/>
-				<Name LcId="1033"><![CDATA[EL2202-0100 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
-				<Name LcId="1031"><![CDATA[EL2202-0100 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>DC Sync Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04018000000AFFFF</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08CC3052" RevisionNo="#x00000000">EL2252</Type>
-				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
-				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
-				<Fmmu Sm="2" Su="2">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
-				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
-					<Index>#x1610</Index>
-					<Name>DC Sync Activate</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x81</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Activate</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Virtual="true">
-					<Index>#x1611</Index>
-					<Name>DC Sync Start</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>StartTime</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcTimeStamp</Name>
-						<Desc>DC Time Stamp Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04018000e8030100</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08CC3052" RevisionNo="#x00100000">EL2252</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL2252-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
-				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
-				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
-				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
-					<Index>#x1610</Index>
-					<Name>DC Sync Activate</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x81</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Activate</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
-					<Index>#x1611</Index>
-					<Name>DC Sync Start</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>StartTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>16</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Su="0" Virtual="true">
-					<Index>#x1a00</Index>
-					<Name>SysTime</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x10</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>SysTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcTimeStamp</Name>
-						<Desc>DC Time Stamp Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04018000e8030100</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08CC3052" RevisionNo="#x00110000">EL2252</Type>
-				<HideType RevisionNo="#x00100000" ProductRevision="EL2252-0000-0016"/>
-				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
-				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
-				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
-				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
-					<Index>#x1602</Index>
-					<Name>DC Sync Activate</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x81</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Activate</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
-					<Index>#x1603</Index>
-					<Name>DC Sync Start</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>StartTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1602</Index>
-					<Name>Reserved</Name>
-				</RxPdo>
-				<TxPdo Fixed="1" Su="0" Virtual="true">
-					<Index>#x1a00</Index>
-					<Name>SysTime</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x10</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>SysTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcTimeStamp</Name>
-						<Desc>DC Time Stamp Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04018000e803FFFF</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08CC3052" RevisionNo="#x00120000">EL2252</Type>
-				<HideType RevisionNo="#x00110000" ProductRevision="EL2252-0000-0011"/>
-				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
-				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
-				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
-				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
-				<Sm StartAddress="#x1000" Virtual="true">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
-					<Index>#x1602</Index>
-					<Name>DC Sync Activate</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x81</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Activate</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
-					<Index>#x1603</Index>
-					<Name>DC Sync Start</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>StartTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1604</Index>
-					<Name>Reserved</Name>
-				</RxPdo>
-				<TxPdo Fixed="1" Su="0" Virtual="true">
-					<Index>#x1a00</Index>
-					<Name>SysTime</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x10</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>SysTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a01</Index>
-					<Name>Feedback</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x11</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Feedback</Name>
-						<Comment>Bit 0: Output 1
-Bit 1: Tristate 1
-Bit 2: Output 2
-Bit 3: Tristate 2</Comment>
-						<DataType>USINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcTimeStamp</Name>
-						<Desc>DC Time Stamp Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04018000e803FFFF</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08D63052" RevisionNo="#x00000000">EL2262</Type>
-				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
-				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<RxPdo Fixed="1" Sm="0">
-					<Index>#x1680</Index>
-					<Name>Cycle Counter</Name>
-					<Entry>
-						<Index>#x7800</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Cycle Counter</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
-					<Index>#x1600</Index>
-					<Name>Sample</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Output</Name>
-						<DataType>BYTE</DataType>
-					</Entry>
-				</RxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>No oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="2">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync3</Name>
-						<Desc>3 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="3">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync4</Name>
-						<Desc>4 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="4">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync5</Name>
-						<Desc>5 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="5">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync8</Name>
-						<Desc>8 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="8">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync10</Name>
-						<Desc>10 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="10">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync16</Name>
-						<Desc>16 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="16">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync20</Name>
-						<Desc>20 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="20">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync25</Name>
-						<Desc>25 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="25">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync50</Name>
-						<Desc>50 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="50">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync100</Name>
-						<Desc>100 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="100">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0601000010000100</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08D63052" RevisionNo="#x00010000">EL2262</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL2262-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
-				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu OpOnly="true" Sm="1" Su="1">Outputs</Fmmu>
-				<Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x1200" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su/>
-				<Su/>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1700</Index>
-					<Name>CycCount0</Name>
-					<Entry>
-						<Index>#x7800</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Cycle Counter</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
-					<Index>#x1600</Index>
-					<Name>Sample0</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output0</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1710</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1711</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1712</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1713</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1714</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1715</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1716</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>7</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1701</Index>
-					<Name>CycCount1</Name>
-					<Entry>
-						<Index>#x7800</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Cycle Counter</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
-					<Index>#x1680</Index>
-					<Name>Sample1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output1</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1718</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1719</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171a</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171b</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171c</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171d</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171e</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>7</BitLen>
-					</Entry>
-				</RxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>No oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-							<Pdo>#x1716</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="1">#x1680</Pdo>
-							<Pdo>#x171e</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="2">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="2">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync3</Name>
-						<Desc>3 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="3">#x1600</Pdo>
-							<Pdo>#x1714</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="3">#x1680</Pdo>
-							<Pdo>#x171c</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync4</Name>
-						<Desc>4 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="4">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="4">#x1680</Pdo>
-							<Pdo>#x171b</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync5</Name>
-						<Desc>5 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="5">#x1600</Pdo>
-							<Pdo>#x1712</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="5">#x1680</Pdo>
-							<Pdo>#x171a</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync8</Name>
-						<Desc>8 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="8">#x1600</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="8">#x1680</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync10</Name>
-						<Desc>10 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="10">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="10">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync16</Name>
-						<Desc>16 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="16">#x1600</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="16">#x1680</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync20</Name>
-						<Desc>20 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="20">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="20">#x1680</Pdo>
-							<Pdo>#x171b</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync25</Name>
-						<Desc>25 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="25">#x1600</Pdo>
-							<Pdo>#x1716</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="25">#x1680</Pdo>
-							<Pdo>#x171e</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync40</Name>
-						<Desc>40 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="40">#x1600</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="40">#x1680</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync50</Name>
-						<Desc>50 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="50">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="50">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync100_1</Name>
-						<Desc>100 times oversampling (1Ch)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="100">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0601000010000100</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08D63052" RevisionNo="#x00020000" TcSmClass="EL226X">EL2262</Type>
-				<HideType RevisionNo="#x00010000" ProductRevision="EL2262-0001-0000"/>
-				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 1µs, DC Oversample]]></Name>
-				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 1µs, DC Oversample]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>070</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu OpOnly="true" Sm="1" Su="1">Outputs</Fmmu>
-				<Fmmu OpOnly="false" Sm="2" Su="0">Inputs</Fmmu>
-				<Sm StartAddress="#x1000" ControlByte="#x64" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x1200" ControlByte="#x64" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x0998" Virtual="true">Inputs</Sm>
-				<Su/>
-				<Su/>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1700</Index>
-					<Name>CycCount0</Name>
-					<Entry>
-						<Index>#x7800</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Cycle Counter0</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
-					<Index>#x1600</Index>
-					<Name>Sample0</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output0</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
-					<Index>#x1800</Index>
-					<Name>Sample0</Name>
-					<Entry>
-						<Index>#x7200</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Output0</Name>
-						<DataType>BYTE</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1710</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1711</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1712</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1713</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1714</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1715</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1716</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>7</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1701</Index>
-					<Name>CycCount1</Name>
-					<Entry>
-						<Index>#x7800</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Cycle Counter1</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
-					<Index>#x1680</Index>
-					<Name>Sample1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output1</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
-					<Index>#x1880</Index>
-					<Name>Sample1</Name>
-					<Entry>
-						<Index>#x7200</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Output1</Name>
-						<DataType>BYTE</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1718</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1719</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171a</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171b</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171c</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171d</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171e</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>7</BitLen>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="2" Virtual="true" Su="0">
-					<Index>#x1702</Index>
-					<Name>StartTimeNextOutput</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x98</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>StartTimeNextOutput</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>2 Channels - No oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-							<Pdo>#x1716</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="1">#x1680</Pdo>
-							<Pdo>#x171e</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 Ch. - 2 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="2">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="2">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync3</Name>
-						<Desc>2 Ch. - 3 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="3">#x1600</Pdo>
-							<Pdo>#x1714</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="3">#x1680</Pdo>
-							<Pdo>#x171c</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync4</Name>
-						<Desc>2 Ch. - 4 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="4">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="4">#x1680</Pdo>
-							<Pdo>#x171b</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync5</Name>
-						<Desc>2 Ch. - 5 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="5">#x1600</Pdo>
-							<Pdo>#x1712</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="5">#x1680</Pdo>
-							<Pdo>#x171a</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync8</Name>
-						<Desc>2 Ch. - 8 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="8">#x1600</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="8">#x1680</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync10</Name>
-						<Desc>2 Ch. - 10 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="10">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="10">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync16</Name>
-						<Desc>2 Ch. - 16 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="16">#x1600</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="16">#x1680</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync20</Name>
-						<Desc>2 Ch. - 20 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="20">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="20">#x1680</Pdo>
-							<Pdo>#x171b</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync40</Name>
-						<Desc>2 Ch. - 40 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="40">#x1600</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="40">#x1680</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync50</Name>
-						<Desc>2 Ch. - 50 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="50">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="50">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync100</Name>
-						<Desc>2 Ch. - 100 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="100">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="100">#x1680</Pdo>
-							<Pdo>#x171b</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync200</Name>
-						<Desc>2 Ch. - 200 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="25">#x1800</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="25">#x1880</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync400</Name>
-						<Desc>2 Ch. - 400 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="50">#x1800</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="50">#x1880</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync1000</Name>
-						<Desc>2 Ch. - 1000 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="125">#x1800</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="125">#x1880</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync_1</Name>
-						<Desc>Channel 1 - No oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-							<Pdo>#x1716</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2_1</Name>
-						<Desc>1 Ch. - 2 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="2">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync3_1</Name>
-						<Desc>1 Ch. - 3 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="3">#x1600</Pdo>
-							<Pdo>#x1714</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync4_1</Name>
-						<Desc>1 Ch. - 4 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="4">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync5_1</Name>
-						<Desc>1 Ch. - 5 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="5">#x1600</Pdo>
-							<Pdo>#x1712</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync8_1</Name>
-						<Desc>1 Ch. - 8 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="8">#x1600</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync10_1</Name>
-						<Desc>1 Ch. - 10 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="10">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync16_1</Name>
-						<Desc>1 Ch. - 16 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="16">#x1600</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync20_1</Name>
-						<Desc>1 Ch. - 20 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="20">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync40_1</Name>
-						<Desc>1 Ch. - 40 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="40">#x1600</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync50_1</Name>
-						<Desc>1 Ch. - 50 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="50">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync100_1</Name>
-						<Desc>1 Ch. - 100 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="100">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync200_1</Name>
-						<Desc>1 Ch. - 200 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="25">#x1800</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync400_1</Name>
-						<Desc>1 Ch. - 400 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="50">#x1800</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync1000_1</Name>
-						<Desc>1 Ch. - 1000 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="125">#x1800</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>2 Channels (Bits)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-							<Pdo>#x1710</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b02</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="1">#x1680</Pdo>
-							<Pdo>#x1718</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 Channels (Bytes)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1800</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b02</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="1">#x1880</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync_1</Name>
-						<Desc>1 Channel (Bits)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-							<Pdo>#x1710</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b02</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2_1</Name>
-						<Desc>1 Channel (Bytes)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1800</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b02</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0605000010000100</ConfigData>
-					<Category>
-						<CatNo>1</CatNo>
-						<Data>D60806020602</Data>
-					</Category>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09c63052" RevisionNo="#x100000">EL2502</Type>
-				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
-				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BIT3</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN03</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>3</BitSize>
-								<EnumInfo>
-									<Text>Signed Presentation</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Unsigned resentation</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value with MSB</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default Watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last value</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>PWM</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Frequency</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>120</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable user scale</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Presentation</Name>
-									<Type>DT0800EN03</Type>
-									<BitSize>3</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Operation mode</Name>
-									<Type>DT0802EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Default output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>72</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>88</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Period PWM [µs]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>104</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800E</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Timer resolution</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Duty cycle</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
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-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BIT3</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN03</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>3</BitSize>
-								<EnumInfo>
-									<Text>Signed Presentation</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Unsigned resentation</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value with MSB</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default Watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last value</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>PWM</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Frequency</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>16</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>PWM period</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>120</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable user scale</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Presentation</Name>
-									<Type>DT0800EN03</Type>
-									<BitSize>3</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Operation mode</Name>
-									<Type>DT0802EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Default output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>72</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>88</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Period PWM [µs]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>104</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800E</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Timer resolution</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Duty cycle</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-									<BitSize>8</BitSize>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>64</BitSize>
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-									<LBound>1</LBound>
-									<Elements>2</Elements>
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-							<DataType>
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-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
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-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
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-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>8913fa00</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323530322d30303030</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230c609</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>00001100</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-ParCh.1</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0216</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>RxPDO-ParCh.2</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0216</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>RxPDO-PaCh.1</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0016</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1403</Index>
-								<Name>RxPDO-PaCh.2</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0016</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1600</Index>
-								<Name>RxPDO-Map Ch.1</Name>
-								<Type>DT1600</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>10110070</DefaultData>
-										</Info>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1601</Index>
-								<Name>RxPDO-Map Ch.2</Name>
-								<Type>DT1600</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>10111070</DefaultData>
-										</Info>
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-							<Object>
-								<Index>#x1602</Index>
-								<Name>RxPDO-MapCh.1</Name>
-								<Type>DT1602</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
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-										<Info>
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-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>10120070</DefaultData>
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-							<Object>
-								<Index>#x1603</Index>
-								<Name>RxPDO-MapCh.2</Name>
-								<Type>DT1602</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
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-										<Info>
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-										<Info>
-											<DefaultData>10121070</DefaultData>
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-							<Object>
-								<Index>#x1c00</Index>
-								<Name>Sync manager type</Name>
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-											<DefaultData>01</DefaultData>
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-									<SubItem>
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-											<DefaultData>02</DefaultData>
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-										<Name>SubIndex 003</Name>
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-											<DefaultData>03</DefaultData>
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-							<Object>
-								<Index>#x1c12</Index>
-								<Name>RxPDO assign</Name>
-								<Type>DT1C12</Type>
-								<BitSize>48</BitSize>
-								<Info>
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-										<Info>
-											<DefaultData>0116</DefaultData>
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-								<Flags>
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-							<Object>
-								<Index>#x1c13</Index>
-								<Name>TxPDO assign</Name>
-								<Type>DT1C13</Type>
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-								<Info>
-									<SubItem>
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-										<Info>
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-								<Flags>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1c32</Index>
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-								<BitSize>280</BitSize>
-								<Info>
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-									<SubItem>
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-										<Info>
-											<DefaultData>0100</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Cycle time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Shift time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sync modes supported</Name>
-										<Info>
-											<DefaultData>07c0</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Minimum cycle time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Calc and copy time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Command</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Delay time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SM event missed counter</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Cycle exceeded counter</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Shift too short counter</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sync error</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x7000</Index>
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-								<Type>DT7000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
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-											<DefaultData>12</DefaultData>
-										</Info>
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-									<SubItem>
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-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
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-										</Info>
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-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
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-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
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-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>16</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>PWM period</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>120</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable user scale</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Presentation</Name>
-									<Type>DT0800EN03</Type>
-									<BitSize>3</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Operation mode</Name>
-									<Type>DT0802EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Default output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>72</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>88</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Period PWM [µs]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>104</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800E</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Timer resolution</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Duty cycle</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>8913fa00</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323530322d30303030</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230c609</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>00001200</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
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-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>fa000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
-				<Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="0">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>PWM Outputs Channel 1</Name>
-					<Exclude>#x1602</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>PWM Outputs Channel 1</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM period</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1601</Index>
-					<Name>PWM Outputs Channel 2</Name>
-					<Exclude>#x1603</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1603</Index>
-					<Name>PWM Outputs Channel 2</Name>
-					<Exclude>#x1601</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM period</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE PdoAssign="1" SdoInfo="1"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030400000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9c63052" RevisionNo="#x00130000">EL2502</Type>
-				<HideType RevisionNo="#x00110000"/>
-				<HideType RevisionNo="#x00120000"/>
-				<Name LcId="1033">EL2502 2Ch. PWM output, 24V</Name>
-				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>150</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BIT3</Name>
-								<BitSize>3</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN03</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>3</BitSize>
-								<EnumInfo>
-									<Text>Signed Presentation</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Unsigned resentation</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value with MSB</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default Watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last value</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>PWM 20Hz...20kHz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Reserved.</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>PWM 100ns frq. res.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>PWM 1Hz...20kHz</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>0</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>0</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>16</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>0</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>PWM period</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>160</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable user scale</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Presentation</Name>
-									<Type>DT0800EN03</Type>
-									<BitSize>3</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Operation mode</Name>
-									<Type>DT0802EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Default output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Period PWM 20Hz..20kHz[µs]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Period PWM 1Hz..20kHz [µs]</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800E</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Timer resolution</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Duty cycle</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
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-									<LBound>1</LBound>
-									<Elements>2</Elements>
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-							<DataType>
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-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
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-										<Access>rw</Access>
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-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>8913fa00</DefaultData>
-								</Info>
-								<Flags>
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-								</Flags>
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-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
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-									<DefaultData>454c323530322d30303030</DefaultData>
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-								</Flags>
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-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
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-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
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-										<Info>
-											<DefaultData>04</DefaultData>
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-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230c609</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>00001300</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
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-								<Flags>
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-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
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-										<Info>
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-											<DefaultData>00000000</DefaultData>
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-								<Name>PWM RxPDO-Par Ch.1</Name>
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-								<Info>
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-											<DefaultData>06</DefaultData>
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-											<DefaultData>0216</DefaultData>
-										</Info>
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-							<Object>
-								<Index>#x1401</Index>
-								<Name>PWM RxPDO-Par Ch.2</Name>
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-								<BitSize>32</BitSize>
-								<Info>
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-											<DefaultData>06</DefaultData>
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-										<Name>Exclude RxPDOs</Name>
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-											<DefaultData>0316</DefaultData>
-										</Info>
-									</SubItem>
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-							<Object>
-								<Index>#x1402</Index>
-								<Name>PWM RxPDO-Par h.1 Ch.1</Name>
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-								<BitSize>32</BitSize>
-								<Info>
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-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0016</DefaultData>
-										</Info>
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-							<Object>
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-											<DefaultData>06</DefaultData>
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-										</Info>
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-				<HideType RevisionNo="#x00120000"/>
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-				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
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-									<Pdo>#x1603</Pdo>
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-					<AddInfo>250</AddInfo>
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-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN03</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>3</BitSize>
-								<EnumInfo>
-									<Text>Signed Presentation</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Unsigned Presentation</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value with MSB</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default Watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last value</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>PWM 20Hz...20kHz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Reserved.</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>PWM 100ns frq. res.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>PWM 1Hz...20kHz</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>0</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>0</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>16</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>0</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>PWM period</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>160</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable user scale</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Presentation</Name>
-									<Type>DT0800EN03</Type>
-									<BitSize>3</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Operation mode</Name>
-									<Type>DT0802EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Default output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Period PWM 20Hz..20kHz[µs]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Period PWM 1Hz..20kHz [µs]</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800E</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Timer resolution</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Duty cycle</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>64</BitSize>
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-									<LBound>1</LBound>
-									<Elements>2</Elements>
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-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
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-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>8913fa00</DefaultData>
-								</Info>
-								<Flags>
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-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323530322d30303030</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230c609</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>00001300</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>PWM RxPDO-Par Ch.1</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0216</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PWM RxPDO-Par Ch.2</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0316</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>PWM RxPDO-Par h.1 Ch.1</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0016</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1403</Index>
-								<Name>PWM RxPDO-Par h.1 Ch.2</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0116</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1600</Index>
-								<Name>PWM RxPDO-Map Ch.1</Name>
-								<Type>DT1600</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>10110070</DefaultData>
-										</Info>
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-								</Flags>
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-							<Object>
-								<Index>#x1601</Index>
-								<Name>PWM RxPDO-Map Ch.2</Name>
-								<Type>DT1600</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-										<Info>
-											<DefaultData>10111070</DefaultData>
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-							<Object>
-								<Index>#x1602</Index>
-								<Name>PWM RxPDO-Map h.1 Ch.1</Name>
-								<Type>DT1602</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
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-										<Info>
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-											<DefaultData>10120070</DefaultData>
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-							<Object>
-								<Index>#x1603</Index>
-								<Name>PWM RxPDO-Map h.1 Ch.2</Name>
-								<Type>DT1602</Type>
-								<BitSize>80</BitSize>
-								<Info>
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-										<Info>
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-							<Object>
-								<Index>#x1c00</Index>
-								<Name>Sync manager type</Name>
-								<Type>DT1C00</Type>
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-									<SubItem>
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-											<DefaultData>01</DefaultData>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1c12</Index>
-								<Name>RxPDO assign</Name>
-								<Type>DT1C12</Type>
-								<BitSize>48</BitSize>
-								<Info>
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-									<SubItem>
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-										<Info>
-											<DefaultData>0116</DefaultData>
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-								<Flags>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1c13</Index>
-								<Name>TxPDO assign</Name>
-								<Type>DT1C13</Type>
-								<BitSize>8</BitSize>
-								<Info>
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-								<Flags>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1c32</Index>
-								<Name>SM output parameter</Name>
-								<Type>DT1C32</Type>
-								<BitSize>344</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
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-											<DefaultData>20</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Sync mode</Name>
-										<Info>
-											<DefaultData>0100</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Cycle time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Shift time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sync modes supported</Name>
-										<Info>
-											<DefaultData>07c0</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Minimum cycle time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Calc and copy time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Minimum delay time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Command</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
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-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SM event missed counter</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Cycle exceeded counter</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Shift too short counter</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sync error</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
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-				<Name LcId="1031"><![CDATA[EL2521 1K. Pulse Train Ausgang]]></Name>
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-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
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-								<BitSize>88</BitSize>
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-								<BitSize>16</BitSize>
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-								<EnumInfo>
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-								<BitSize>2</BitSize>
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-								<EnumInfo>
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-								<EnumInfo>
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-								<Name>DT1C00ARR</Name>
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-									<Elements>4</Elements>
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-							<DataType>
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-								<BitSize>48</BitSize>
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-									<SubIdx>0</SubIdx>
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-									<Type>DT1C00ARR</Type>
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-								<Name>DT1C12</Name>
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-									<SubIdx>0</SubIdx>
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-									<MinValue>0</MinValue>
-									<MaxValue>1</MaxValue>
-									<DefaultValue>1</DefaultValue>
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-										<Access>rw</Access>
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-									<BitOffs>16</BitOffs>
-									<MinValue>#x1600</MinValue>
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-								<Name>DT1C13</Name>
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-									<SubIdx>0</SubIdx>
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-									<Type>USINT</Type>
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-									<MinValue>0</MinValue>
-									<MaxValue>1</MaxValue>
-									<DefaultValue>1</DefaultValue>
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-										<Access>rw</Access>
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-									<MinValue>#x1600</MinValue>
-									<MaxValue>#x1600</MaxValue>
-									<DefaultValue>#x1600</DefaultValue>
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-										<Access>rw</Access>
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-								<Name>DT6000</Name>
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-									<SubIdx>0</SubIdx>
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-									<BitOffs>16</BitOffs>
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-										<Access>ro</Access>
-										<PdoMapping>T</PdoMapping>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
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-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>T</PdoMapping>
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-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
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-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
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-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
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-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
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-										<Access>rw</Access>
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-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
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-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
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-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
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-									<SubIdx>0</SubIdx>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>0</DefaultValue>
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-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<MinValue>#x64</MinValue>
-									<MaxValue>#x0007a120</MaxValue>
-									<DefaultValue>50000</DefaultValue>
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-										<Access>rw</Access>
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-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<MinValue>#x64</MinValue>
-									<MaxValue>#x0007a120</MaxValue>
-									<DefaultValue>100000</DefaultValue>
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-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
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-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
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-										<Access>rw</Access>
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-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<MinValue>#x01</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>100</DefaultValue>
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-										<Access>rw</Access>
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-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
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-									<BitOffs>144</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#x7fff</MaxValue>
-									<DefaultValue>50</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
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-										<Access>rw</Access>
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-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
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-									<SubIdx>0</SubIdx>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
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-									<BitOffs>16</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffffffff</MaxValue>
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-								<SubItem>
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-										<Access>ro</Access>
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-								<Index>#x1000</Index>
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-									<DefaultData>00000000</DefaultData>
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-									<Access>ro</Access>
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-								<Index>#x100a</Index>
-								<Name>Software Version</Name>
-								<Type>STRING(2)</Type>
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-									<Access>ro</Access>
-								</Flags>
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-								<Name>Load Default Settings</Name>
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-									<DefaultData>010000000000</DefaultData>
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-									<DefaultData>0400020000005230d9090000000000000000</DefaultData>
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-								<BitSize>80</BitSize>
-								<Info>
-									<DefaultData>02001001007010020070</DefaultData>
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-									<DefaultData>02001001006010020060</DefaultData>
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-								<Info>
-									<DefaultData>040001020304</DefaultData>
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-								<Name>Process Data Format</Name>
-								<Type>UINT</Type>
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-								<Info>
-									<DefaultData>0001</DefaultData>
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-								<Name>SM 002 RxPDO Assign</Name>
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-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>01000016</DefaultData>
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-								<Name>SM 003 TxPDO Assign</Name>
-								<Type>DT1C13</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>01000016</DefaultData>
-								</Info>
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-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>020000000000</DefaultData>
-								</Info>
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-							<Object>
-								<Index>#x7000</Index>
-								<Name>Outputs</Name>
-								<Type>DT7000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>020000000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8000</Index>
-								<Name>Feature bits</Name>
-								<Type>DT8000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>0f003000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8001</Index>
-								<Name>User settings</Name>
-								<Type>DT8001</Type>
-								<BitSize>176</BitSize>
-								<Info>
-									<DefaultData>0800000050c30000a0860100e803e80364003200e803</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8800</Index>
-								<Name>Volatile Settings</Name>
-								<Type>DT8800</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<DefaultData>0200000000000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xa000</Index>
-								<Name>Diagnostic Parameter</Name>
-								<Type>DTA000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>01000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf000</Index>
-								<Name>Profile Settings</Name>
-								<Type>DTF000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>02001001</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code Word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>Outputs</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox>
-					<CoE SdoInfo="1" PdoAssign="0" PdoConfig="0"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003080000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F80000">EL2521</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL2521-0000-0000"/>
-				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1604</Pdo>
-									<Pdo>#x1602</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1607</Pdo>
-									<Pdo>#x1605</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
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-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							<DataType>
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-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
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-									<BitOffs>128</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
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-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
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-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
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-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
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-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
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-									<BitOffs>176</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
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-							<DataType>
-								<Name>DT8800</Name>
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-									<SubIdx>0</SubIdx>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-									<Name>Target counter state</Name>
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-									<BitOffs>16</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
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-									<BitOffs>48</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTA000</Name>
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-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
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-									<BitOffs>16</BitOffs>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
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-									<BitOffs>16</BitOffs>
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-									<Name>Maximum number of modules</Name>
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-								<Index>#x1000</Index>
-								<Name>Device type</Name>
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-									<DefaultData>89130000</DefaultData>
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-									<DefaultData>454c32353231</DefaultData>
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-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
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-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
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-								<Name>Restore default parameters</Name>
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-											<DefaultData>00000000</DefaultData>
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-											<DefaultData>04</DefaultData>
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-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
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-										<Name>Product code</Name>
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-											<DefaultData>5230d909</DefaultData>
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-											<DefaultData>0000f803</DefaultData>
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-										<Name>Serial number</Name>
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-											<DefaultData>01</DefaultData>
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-											<DefaultData>00000000</DefaultData>
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-								<Name>RxPDO-Par</Name>
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-								<Name>PTO RxPDO-Par Control</Name>
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-										<Info>
-											<DefaultData>06</DefaultData>
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-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
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-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
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-										<Info>
-											<DefaultData>06</DefaultData>
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-										<Name>Exclude RxPDOs</Name>
-										<Info>
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-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
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-								<Index>#x1405</Index>
-								<Name>ENC RxPDO-Par Control</Name>
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-								<Name>PTO RxPDO-Par Target</Name>
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-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Counter value</Name>
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-								<Info>
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-								<Info>
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-										<Info>
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-									<SubItem>
-										<Name>Go counter</Name>
-										<Info>
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-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Frequency value</Name>
-										<Info>
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-									<SubItem>
-										<Name>Target counter value</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
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-								<Flags>
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-								<Type>DT7020</Type>
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-								<Info>
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-										<Name>Set counter</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									</SubItem>
-									<SubItem>
-										<Name>Set counter value</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
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-								<Flags>
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-							<Object>
-								<Index>#x8000</Index>
-								<Name>Feature bits</Name>
-								<Type>DT8000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>0f</DefaultData>
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-									<SubItem>
-										<Name>Emergency ramp active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									</SubItem>
-									<SubItem>
-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Sign/amount representation</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Rising edge clears/sets counter</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Ramp function active</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Ramp base frequency</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-										<Name>Direct input mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Name>Users switch-on-value on wdt</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Travel distance control active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Rising edge sets counter</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Name>Operating mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Name>Negative logic</Name>
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-											<DefaultData>00</DefaultData>
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-							<Object>
-								<Index>#x8001</Index>
-								<Name>User settings</Name>
-								<Type>DT8001</Type>
-								<BitSize>176</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
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-										<Name>Users switch-on-value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Base frequency 1</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>50000</DefaultValue>
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-									<SubItem>
-										<Name>Base frequency 2</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>100000</DefaultValue>
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-									<SubItem>
-										<Name>Ramp time constant (rising)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
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-										<Name>Ramp time constant (falling)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
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-									<SubItem>
-										<Name>Frequency factor (Digit x 10mHz)</Name>
-										<Info>
-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
-											<DefaultValue>100</DefaultValue>
-										</Info>
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-									<SubItem>
-										<Name>Slowing down frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
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-										<Name>Ramp time constant (emergency)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
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-									<Access>rw</Access>
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-							<Object>
-								<Index>#x8010</Index>
-								<Name>PTO Settings</Name>
-								<Type>DT8010</Type>
-								<BitSize>192</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
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-										<Name>Emergency ramp active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Sign/amount representation</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Ramp function active</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
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-										<Name>Ramp base frequency</Name>
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-											<DefaultData>00</DefaultData>
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-										<Name>Users switch-on-value</Name>
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-											<DefaultData>0000</DefaultData>
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-											<MaxValue>500000</MaxValue>
-											<DefaultValue>50000</DefaultValue>
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-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>100000</DefaultValue>
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-											<DefaultData>e803</DefaultData>
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-											<DefaultData>e803</DefaultData>
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-									<SubItem>
-										<Name>Frequency factor (Digit x 10mHz)</Name>
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-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
-											<DefaultValue>100</DefaultValue>
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-										<Name>Slowing down frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
-										</Info>
-									</SubItem>
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-										<Info>
-											<DefaultData>e803</DefaultData>
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-								<Info>
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-										<Name>SubIndex 000</Name>
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-											<DefaultData>00000000</DefaultData>
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-								<Info>
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-										<Name>Module index distance</Name>
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-									<SubItem>
-										<Name>Maximum number of modules</Name>
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-								<Name>Module list</Name>
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-								<Info>
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-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
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-						<DataType>UINT</DataType>
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-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
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-						<DataType>UINT</DataType>
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-				<RxPdo Fixed="1">
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-					<Name>PTO Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Frequency select</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Disable ramp</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
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-						<BitLen>5</BitLen>
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-					<Entry>
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-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
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-				<RxPdo Fixed="1">
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-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
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-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
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-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
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-				<RxPdo Fixed="1">
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-					<Name>PTO Target</Name>
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-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
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-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F90000">EL2521</Type>
-				<HideType RevisionNo="#x3F80000"/>
-				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1604</Pdo>
-									<Pdo>#x1602</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1607</Pdo>
-									<Pdo>#x1605</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
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-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c32353231</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>0000f803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1405</Index>
-								<Name>ENC RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1407</Index>
-								<Name>PTO RxPDO-Par Target</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1600</Index>
-								<Name>RxPDO-Map</Name>
-								<Type>DT1600</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>10010070</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>10020070</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1601</Index>
-								<Name>PTO RxPDO-Map Control</Name>
-								<Type>DT1601</Type>
-								<BitSize>208</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
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-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c32353231</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>0000f803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
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-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9d93052" RevisionNo="#x03fb0000">EL2521</Type>
-				<HideType RevisionNo="#x0"/>
-				<HideType RevisionNo="#x3f80000"/>
-				<HideType RevisionNo="#x3f90000"/>
-				<HideType RevisionNo="#x3fa0000"/>
-				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1602</Pdo>
-									<Pdo>#x1604</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1605</Pdo>
-									<Pdo>#x1607</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
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-								<SubItem>
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-									<DefaultData>89130000</DefaultData>
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-									<DefaultData>454c32353231</DefaultData>
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-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
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-									<SubItem>
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-										<Name>Target counter value</Name>
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-											<DefaultData>00000000</DefaultData>
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-							<Object>
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-								<Info>
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-										<Name>Set counter</Name>
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-											<DefaultData>00</DefaultData>
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-										<Name>Set counter value</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
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-							<Object>
-								<Index>#x8000</Index>
-								<Name>Feature bits</Name>
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-								<Info>
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-										<Info>
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-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Sign/amount representation</Name>
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-									<SubItem>
-										<Name>Rising edge clears/sets counter</Name>
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-										<Name>Ramp function active</Name>
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-											<DefaultData>00</DefaultData>
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-										<Name>Direct input mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-										<Name>Users switch-on-value on wdt</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Travel distance control active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Name>Rising edge sets counter</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Name>Operating mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-							<Object>
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-								<Name>User settings</Name>
-								<Type>DT8001</Type>
-								<BitSize>176</BitSize>
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-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>08</DefaultData>
-										</Info>
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-										<Name>Users switch-on-value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Base frequency 1</Name>
-										<Info>
-											<MinValue>#x64</MinValue>
-											<MaxValue>#x7a120</MaxValue>
-											<DefaultValue>#xc350</DefaultValue>
-										</Info>
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-									<SubItem>
-										<Name>Base frequency 2</Name>
-										<Info>
-											<MinValue>#x64</MinValue>
-											<MaxValue>#x7a120</MaxValue>
-											<DefaultValue>#x186a0</DefaultValue>
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-									<SubItem>
-										<Name>Ramp time constant (rising)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
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-										<Name>Ramp time constant (falling)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
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-									<SubItem>
-										<Name>Frequency factor (Digit x 10mHz)</Name>
-										<Info>
-											<MinValue>#x1</MinValue>
-											<MaxValue>#xffff</MaxValue>
-											<DefaultValue>#x64</DefaultValue>
-										</Info>
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-									<SubItem>
-										<Name>Slowing down frequency</Name>
-										<Info>
-											<MinValue>#x0</MinValue>
-											<MaxValue>#x7fff</MaxValue>
-											<DefaultValue>#x32</DefaultValue>
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-									<SubItem>
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-										<Info>
-											<DefaultData>e803</DefaultData>
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-							<Object>
-								<Index>#x8010</Index>
-								<Name>PTO Settings</Name>
-								<Type>DT8010</Type>
-								<BitSize>192</BitSize>
-								<Info>
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-										<Name>SubIndex 000</Name>
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-											<DefaultData>00</DefaultData>
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-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Name>Sign/amount representation</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Info>
-											<DefaultData>01</DefaultData>
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-											<DefaultData>00</DefaultData>
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-										<Info>
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-										<Name>Operating mode</Name>
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-										<Info>
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-										<Name>Users switch-on-value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
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-										<Name>Base frequency 1</Name>
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-											<MinValue>#x64</MinValue>
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-											<DefaultValue>#xc350</DefaultValue>
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-										<Info>
-											<MinValue>#x64</MinValue>
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-											<DefaultValue>#x186a0</DefaultValue>
-										</Info>
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-										<Info>
-											<DefaultData>e803</DefaultData>
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-										<Name>Ramp time constant (falling)</Name>
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-											<DefaultData>e803</DefaultData>
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-										<Name>Frequency factor (Digit x 10mHz)</Name>
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-											<MinValue>#x1</MinValue>
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-											<DefaultValue>#x64</DefaultValue>
-										</Info>
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-											<MinValue>#x0</MinValue>
-											<MaxValue>#x7fff</MaxValue>
-											<DefaultValue>#x32</DefaultValue>
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-											<DefaultData>e803</DefaultData>
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-											<DefaultData>00000000</DefaultData>
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-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
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-						<SubIndex>18</SubIndex>
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-						<SubIndex>18</SubIndex>
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-					<Name>ENC Control compact</Name>
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-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
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-						<BitLen>2</BitLen>
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-						<SubIndex>3</SubIndex>
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-						<DataType>BOOL</DataType>
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-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
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-				<RxPdo Fixed="1">
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-					<Name>ENC Control</Name>
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-					<Exclude>#x1604</Exclude>
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-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
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-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-						<Name>Control__Gap</Name>
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-					<Entry>
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-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
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-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Status of input zero</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
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-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
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-					<Entry>
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-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
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-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
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-						<SubIndex>3</SubIndex>
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-						<Name>Status__Set counter done</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
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-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter underflow</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
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-						<BitLen>1</BitLen>
-						<Name>Status__Counter overflow</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Set counter done</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F80018">EL2521-0024</Type>
-				<Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
-				<Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
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-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
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-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</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>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
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-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30303234</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>1800f803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1405</Index>
-								<Name>ENC RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1407</Index>
-								<Name>PTO RxPDO-Par Target</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1600</Index>
-								<Name>RxPDO-Map</Name>
-								<Type>DT1600</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
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-							<Object>
-								<Index>#x1601</Index>
-								<Name>PTO RxPDO-Map Control</Name>
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-								<BitSize>208</BitSize>
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-								<Index>#x1602</Index>
-								<Name>ENC RxPDO-Map Control compact</Name>
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-					<Exclude>#x1604</Exclude>
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-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1601</Index>
-					<Name>PTO Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Frequency select</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Disable ramp</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1604</Index>
-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F90018">EL2521-0024</Type>
-				<HideType RevisionNo="#x3F80018"/>
-				<Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
-				<Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30303234</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>1800f803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1405</Index>
-								<Name>ENC RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1407</Index>
-								<Name>PTO RxPDO-Par Target</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
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-									<SubItem>
-										<Name>Maximum frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>0</DefaultValue>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xa000</Index>
-								<Name>Diagnostic parameter</Name>
-								<Type>DTA000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Counter extension</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf000</Index>
-								<Name>Modular device profile</Name>
-								<Type>DTF000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Module index distance</Name>
-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0300</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf010</Index>
-								<Name>Module list</Name>
-								<Type>DTF010</Type>
-								<BitSize>112</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>fc000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>fd000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 003</Name>
-										<Info>
-											<DefaultData>ff010000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
-				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>Outputs</Name>
-					<Exclude>#x1601</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1601</Index>
-					<Name>PTO Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Frequency select</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Disable ramp</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1604</Index>
-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9d93052" RevisionNo="#x03fa0018">EL2521-0024</Type>
-				<HideType RevisionNo="#x3f80018"/>
-				<HideType RevisionNo="#x3f90018"/>
-				<Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
-				<Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1602</Pdo>
-									<Pdo>#x1604</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1605</Pdo>
-									<Pdo>#x1607</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30303234</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F80019">EL2521-0025</Type>
-				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
-				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
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-										<Info>
-											<DefaultData>12</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Frequency select</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Disable ramp</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Go counter</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Frequency value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Target counter value</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x7020</Index>
-								<Name>ENC Outputs</Name>
-								<Type>DT7020</Type>
-								<BitSize>56</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>11</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Set counter</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Set counter value</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8000</Index>
-								<Name>Feature bits</Name>
-								<Type>DT8000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>0f</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Emergency ramp active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sign/amount representation</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Rising edge clears/sets counter</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp function active</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp base frequency</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Direct input mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Users switch-on-value on wdt</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Travel distance control active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Rising edge sets counter</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Operating mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Negative logic</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8001</Index>
-								<Name>User settings</Name>
-								<Type>DT8001</Type>
-								<BitSize>176</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>08</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Users switch-on-value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 1</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>50000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 2</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>100000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (rising)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (falling)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Frequency factor (Digit x 10mHz)</Name>
-										<Info>
-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
-											<DefaultValue>100</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Slowing down frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (emergency)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8010</Index>
-								<Name>PTO Settings</Name>
-								<Type>DT8010</Type>
-								<BitSize>192</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>18</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Emergency ramp active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sign/amount representation</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp function active</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp base frequency</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Direct input mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Users switch-on-value on wdt</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Travel distance control active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Operating mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Negative logic</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Users switch-on-value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 1</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>50000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 2</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>100000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (rising)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (falling)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Frequency factor (Digit x 10mHz)</Name>
-										<Info>
-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
-											<DefaultValue>100</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Slowing down frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (emergency)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8800</Index>
-								<Name>Volatile settings</Name>
-								<Type>DT8800</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Target counter state</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>0</DefaultValue>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xa000</Index>
-								<Name>Diagnostic parameter</Name>
-								<Type>DTA000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Counter extension</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf000</Index>
-								<Name>Modular device profile</Name>
-								<Type>DTF000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Module index distance</Name>
-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0300</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf010</Index>
-								<Name>Module list</Name>
-								<Type>DTF010</Type>
-								<BitSize>112</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>fc000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>fd000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 003</Name>
-										<Info>
-											<DefaultData>ff010000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>Outputs</Name>
-					<Exclude>#x1601</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
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-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1601</Index>
-					<Name>PTO Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Frequency select</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Disable ramp</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1604</Index>
-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F90019">EL2521-0025</Type>
-				<HideType RevisionNo="#x3F80019"/>
-				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
-				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
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-							<DataType>
-								<Name>DT8800</Name>
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-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
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-									<BitOffs>48</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTA000</Name>
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-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
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-									<BitOffs>16</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF000</Name>
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-									<SubIdx>0</SubIdx>
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-										<Access>ro</Access>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
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-									<BitOffs>16</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
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-									<BitOffs>32</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
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-									<LBound>1</LBound>
-									<Elements>3</Elements>
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-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
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-									<SubIdx>0</SubIdx>
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-										<Category>o</Category>
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-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
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-								<Flags>
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-							<Object>
-								<Index>#x1008</Index>
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-								<Type>STRING(6)</Type>
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-									<DefaultData>454c323532312d30303235</DefaultData>
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-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
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-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
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-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
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-											<DefaultData>01</DefaultData>
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-											<DefaultData>00000000</DefaultData>
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-								<Index>#x1018</Index>
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-								<BitSize>144</BitSize>
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-									<SubItem>
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-										<Info>
-											<DefaultData>04</DefaultData>
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-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>1900f803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
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-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
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-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
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-								<Flags>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
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-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
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-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
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-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
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-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
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-								<BitSize>96</BitSize>
-								<Info>
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-										<Info>
-											<DefaultData>06</DefaultData>
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-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
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-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
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-										<Info>
-											<DefaultData>06</DefaultData>
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-										<Name>Exclude RxPDOs</Name>
-										<Info>
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-								<Index>#x1405</Index>
-								<Name>ENC RxPDO-Par Control</Name>
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-								<Index>#x1407</Index>
-								<Name>PTO RxPDO-Par Target</Name>
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-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1604</Index>
-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9d93052" RevisionNo="#x3fa0019">EL2521-0025</Type>
-				<HideType RevisionNo="#x3f80019"/>
-				<HideType RevisionNo="#x3f90019"/>
-				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
-				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1602</Pdo>
-									<Pdo>#x1604</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1605</Pdo>
-									<Pdo>#x1607</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
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-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30303235</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>1900fa03</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1405</Index>
-								<Name>ENC RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
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-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1401</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>240</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1603</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>40</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>272</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>432</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SubIndex 011</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>SubIndex 012</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>368</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>SubIndex 013</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>400</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Latch extern valid</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Status of extern latch</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Latch value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>PLS Enabled</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Status of output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Enable latch extern on positive edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Enable latch extern on negative edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable PLS</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Switch on value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Switch off value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Output set active low</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30313234</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>7c001000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1401</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>041605160616</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>PLS RxPDO-Par Control compact</Name>
-								<Type>DT1401</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>041605160616</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1403</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1401</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>041605160616</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>ENC RxPDO-Par Control</Name>
-								<Type>DT1401</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>011602160316</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1405</Index>
-								<Name>PLS RxPDO-Par Control</Name>
-								<Type>DT1401</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>011602160316</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1406</Index>
-								<Name>PTO RxPDO-Par Target</Name>
-								<Type>DT1401</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
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-				<Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
-				<Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>512</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
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-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
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-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
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-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
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-									<BitOffs>48</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
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-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
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-									<BitOffs>112</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1401</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<Name>DT1600</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
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-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
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-										<Category>o</Category>
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-								<SubItem>
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-									<Type>UDINT</Type>
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-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<SubItem>
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-									<Type>UDINT</Type>
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-										<Category>o</Category>
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-								<BitSize>240</BitSize>
-								<SubItem>
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-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-										<Category>o</Category>
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-								<SubItem>
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-									<Name>SubIndex 007</Name>
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-									<BitOffs>208</BitOffs>
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-										<Category>o</Category>
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-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-										<Category>o</Category>
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-								<SubItem>
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-									<Flags>
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-										<Category>o</Category>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-									<Flags>
-										<Access>ro</Access>
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-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-									<Flags>
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-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SubIndex 011</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>SubIndex 012</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>368</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>SubIndex 013</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>400</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Latch extern valid</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Status of extern latch</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Latch value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>PLS Enabled</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Status of output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Enable latch extern on positive edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Enable latch extern on negative edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable PLS</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Switch on value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Switch off value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Output set active low</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30313234</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>7c001000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1401</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>041605160616</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>PLS RxPDO-Par Control compact</Name>
-								<Type>DT1401</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>041605160616</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1403</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1401</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>041605160616</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DCIN</Name>
-						<Desc>DC-Synchron (input based)</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9d93052" RevisionNo="#x0012007c">EL2521-0124</Type>
-				<HideType RevisionNo="#x0010007c"/>
-				<HideType RevisionNo="#x0011007c"/>
-				<Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
-				<Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511/512)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1602</Pdo>
-									<Pdo>#x1603</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511/512)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1604</Pdo>
-									<Pdo>#x1605</Pdo>
-									<Pdo>#x1606</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a02</Pdo>
-									<Pdo>#x1a04</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>512</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1401</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>240</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1603</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>40</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>272</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>432</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SubIndex 011</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>SubIndex 012</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>368</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>SubIndex 013</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>400</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Latch extern valid</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Status of extern latch</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Latch value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>PLS Enabled</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Status of output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Enable latch extern on positive edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Enable latch extern on negative edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable PLS</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Switch on value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Switch off value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Output set active low</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30313234</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
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-					</Entry>
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-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Latch value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a04</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a01</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Latch extern valid</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>13</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Status of extern latch</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1804</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Latch value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a02</Index>
-					<Name>PLS Status</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__PLS Enabled</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Status of output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DCIN</Name>
-						<Desc>DC-Synchron (input based)</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09D93052" RevisionNo="#x000003E9">EL2521-1001</Type>
-				<Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
-				<Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="54" StartAddress="6144" ControlByte="38" Enable="1">MBoxOut</Sm>
-				<Sm DefaultSize="54" StartAddress="6272" ControlByte="34" Enable="1">MBoxIn</Sm>
-				<Sm StartAddress="4096" ControlByte="36" Enable="1">Outputs</Sm>
-				<Sm StartAddress="4352" ControlByte="32" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>Outputs</Name>
-					<Exclude>#x1601</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1601</Index>
-					<Name>Outputs</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox>
-					<CoE SdoInfo="1" PdoAssign="1" PdoConfig="0"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003000000</ConfigData>
-					<BootStrap>0018f400f418f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x000103e9">EL2521-1001</Type>
-				<HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000	"/>
-				<Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
-				<Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>252</AddInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(16)</Name>
-								<BitSize>128</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0029</Name>
-								<BitSize>16</BitSize>
-								<EnumInfo>
-									<Text>Free Run</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Synchron</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>SYNC0 Event</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0800</Name>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801</Name>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor Id</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product Code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision Number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial Number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>RxPDO Mapping Element 1: Ctrl</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>RxPDO Mapping Element 2: Data Out</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>TxPDO Mapping Element 1: Status</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>TxPDO Mapping Element 2: Data In</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<MinValue>0</MinValue>
-									<MaxValue>1</MaxValue>
-									<DefaultValue>1</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Assigned RxPDO</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<MinValue>#x1600</MinValue>
-									<MaxValue>#x1600</MaxValue>
-									<DefaultValue>#x1600</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<MinValue>0</MinValue>
-									<MaxValue>1</MaxValue>
-									<DefaultValue>1</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Assigned TxPDO</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<MinValue>#x1600</MinValue>
-									<MaxValue>#x1600</MaxValue>
-									<DefaultValue>#x1600</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
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-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
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-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>T</PdoMapping>
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-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
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-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
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-								<SubItem>
-									<SubIdx>8</SubIdx>
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-									<BitOffs>23</BitOffs>
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-										<Access>rw</Access>
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-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
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-										<Access>rw</Access>
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-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
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-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
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-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>0</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<MinValue>#x64</MinValue>
-									<MaxValue>#x0007a120</MaxValue>
-									<DefaultValue>50000</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<MinValue>#x64</MinValue>
-									<MaxValue>#x0007a120</MaxValue>
-									<DefaultValue>100000</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
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-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
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-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<MinValue>#x01</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>100</DefaultValue>
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-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
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-									<BitOffs>144</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#x7fff</MaxValue>
-									<DefaultValue>50</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
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-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
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-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
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-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffffffff</MaxValue>
-									<DefaultValue>0</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
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-									<BitOffs>48</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#x7fff</MaxValue>
-									<DefaultValue>0</DefaultValue>
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-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
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-							</DataType>
-							<DataType>
-								<Name>DTF000ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
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-									<LBound>1</LBound>
-									<Elements>2</Elements>
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-							<DataType>
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-								<BitSize>24</BitSize>
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-									<SubIdx>0</SubIdx>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
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-									<Name>Elements</Name>
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-									<BitSize>8</BitSize>
-									<BitOffs>16</BitOffs>
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-								<Index>#x1000</Index>
-								<Name>Device Type</Name>
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-								<BitSize>32</BitSize>
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-									<DefaultData>00000000</DefaultData>
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-									<Access>ro</Access>
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-								<Index>#x1008</Index>
-								<Name>Device Name</Name>
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-									<DefaultData>454c323532312d31303031</DefaultData>
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-								<Index>#x1009</Index>
-								<Name>Hardware Version</Name>
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-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
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-								<Index>#x100a</Index>
-								<Name>Software Version</Name>
-								<Type>STRING(2)</Type>
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-									<Access>ro</Access>
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-								<Index>#x1011</Index>
-								<Name>Load Default Settings</Name>
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-									<DefaultData>010000000000</DefaultData>
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-								<Index>#x1018</Index>
-								<Name>Identity</Name>
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-								<BitSize>144</BitSize>
-								<Info>
-									<DefaultData>0400020000005230d909e903010000000000</DefaultData>
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-									<Access>ro</Access>
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-								<Index>#x1600</Index>
-								<Name>Outputs</Name>
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-								<BitSize>80</BitSize>
-								<Info>
-									<DefaultData>02001001007010020070</DefaultData>
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-								<Flags>
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-								<Index>#x1a00</Index>
-								<Name>Inputs</Name>
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-								<Info>
-									<DefaultData>02001001006010020060</DefaultData>
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-									<Access>ro</Access>
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-								<Index>#x1c00</Index>
-								<Name>Sync Manager Type</Name>
-								<Type>DT1C00</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>040001020304</DefaultData>
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-								<Index>#x1c01</Index>
-								<Name>Process Data Format</Name>
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-								<Info>
-									<DefaultData>0001</DefaultData>
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-								<Index>#x1c12</Index>
-								<Name>SM 002 RxPDO Assign</Name>
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-									<DefaultData>01000016</DefaultData>
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-									<DefaultData>01000016</DefaultData>
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-								<Info>
-									<DefaultData>020000000000</DefaultData>
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-								<Info>
-									<DefaultData>020000000000</DefaultData>
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-								<Index>#x8000</Index>
-								<Name>Feature bits</Name>
-								<Type>DT8000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>0f003000</DefaultData>
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-								<Index>#x8001</Index>
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-								<Info>
-									<DefaultData>0800000050c30000a0860100e803e80364003200e803</DefaultData>
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-								<Index>#x8800</Index>
-								<Name>Volatile Settings</Name>
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-								<BitSize>64</BitSize>
-								<Info>
-									<DefaultData>0200000000000000</DefaultData>
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-								<Index>#xa000</Index>
-								<Name>Diagnostic Parameter</Name>
-								<Type>DTA000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>01000000</DefaultData>
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-								<Flags>
-									<Access>ro</Access>
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-								<Index>#xf000</Index>
-								<Name>Profile Settings</Name>
-								<Type>DTF000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>02001001</DefaultData>
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-								<Index>#xf008</Index>
-								<Name>Code Word</Name>
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-								<Info>
-									<DefaultData>00000000</DefaultData>
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-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>Outputs</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox>
-					<CoE SdoInfo="1" PdoAssign="0" PdoConfig="0"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003080000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x03F803E9">EL2521-1001</Type>
-				<HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000	"/>
-				<HideType RevisionNo="#x000103E9" ProductRevision="EL2521-1001-0001	"/>
-				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
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-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
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-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Set counter value</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8000</Index>
-								<Name>Feature bits</Name>
-								<Type>DT8000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>0f</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Emergency ramp active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sign/amount representation</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Rising edge clears/sets counter</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp function active</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp base frequency</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Direct input mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Users switch-on-value on wdt</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Travel distance control active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Rising edge sets counter</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Operating mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Negative logic</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8001</Index>
-								<Name>User settings</Name>
-								<Type>DT8001</Type>
-								<BitSize>176</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>08</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Users switch-on-value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 1</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>50000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 2</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>100000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (rising)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (falling)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Frequency factor (Digit x 10mHz)</Name>
-										<Info>
-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
-											<DefaultValue>100</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Slowing down frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (emergency)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8010</Index>
-								<Name>PTO Settings</Name>
-								<Type>DT8010</Type>
-								<BitSize>192</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>18</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Emergency ramp active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sign/amount representation</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp function active</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp base frequency</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Direct input mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Users switch-on-value on wdt</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Travel distance control active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Operating mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Negative logic</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Users switch-on-value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 1</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>50000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 2</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>100000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (rising)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (falling)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Frequency factor (Digit x 10mHz)</Name>
-										<Info>
-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
-											<DefaultValue>100</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Slowing down frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (emergency)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8800</Index>
-								<Name>Volatile settings</Name>
-								<Type>DT8800</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Target counter state</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>0</DefaultValue>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xa000</Index>
-								<Name>Diagnostic parameter</Name>
-								<Type>DTA000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Counter extension</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf000</Index>
-								<Name>Modular device profile</Name>
-								<Type>DTF000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Module index distance</Name>
-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0300</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf010</Index>
-								<Name>Module list</Name>
-								<Type>DTF010</Type>
-								<BitSize>112</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>fc000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>fd000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 003</Name>
-										<Info>
-											<DefaultData>ff010000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
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-				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
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-					<Index>#x1600</Index>
-					<Name>Outputs</Name>
-					<Exclude>#x1601</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
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-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1601</Index>
-					<Name>PTO Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Frequency select</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Disable ramp</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1604</Index>
-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x03F903E9">EL2521-1001</Type>
-				<HideType RevisionNo="#x000003E9"/>
-				<HideType RevisionNo="#x000103E9"/>
-				<HideType RevisionNo="#x03F803E9"/>
-				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
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-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
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-									<BitOffs>144</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
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-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
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-									<BitOffs>160</BitOffs>
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-										<Access>rw</Access>
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-								<SubItem>
-									<SubIdx>24</SubIdx>
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-									<BitOffs>176</BitOffs>
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-										<Access>rw</Access>
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-									<Type>UINT</Type>
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-								<SubItem>
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-									<Name>Module index distance</Name>
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-									<DefaultData>454c32353231</DefaultData>
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-								<Type>STRING(2)</Type>
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-											<DefaultData>00000000</DefaultData>
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-										<Name>Exclude RxPDOs</Name>
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-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
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-										<Name>Exclude RxPDOs</Name>
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-								<Index>#x1404</Index>
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-										<Name>Set counter value</Name>
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-								<Flags>
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-							<Object>
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-								<Name>Feature bits</Name>
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-									<SubItem>
-										<Name>Rising edge clears/sets counter</Name>
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-										<Name>Ramp base frequency</Name>
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-										<Name>Rising edge sets counter</Name>
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-								<Name>User settings</Name>
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-										<Info>
-											<DefaultData>0000</DefaultData>
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-									<SubItem>
-										<Name>Base frequency 1</Name>
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-											<MaxValue>500000</MaxValue>
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-											<DefaultData>e803</DefaultData>
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-											<DefaultData>e803</DefaultData>
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-										<Name>Frequency factor (Digit x 10mHz)</Name>
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-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
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-											<MaxValue>32767</MaxValue>
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-											<DefaultData>e803</DefaultData>
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-										<Name>Sign/amount representation</Name>
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-						<DataType>BOOL</DataType>
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-					<Entry>
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-						<SubIndex>2</SubIndex>
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-						<DataType>BOOL</DataType>
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-						<SubIndex>3</SubIndex>
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-						<DataType>BOOL</DataType>
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-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9d93052" RevisionNo="#x3fa03e9">EL2521-1001</Type>
-				<HideType RevisionNo="#x00003e9"/>
-				<HideType RevisionNo="#x000103e9"/>
-				<HideType RevisionNo="#x3f803e9"/>
-				<HideType RevisionNo="#x3f903e9"/>
-				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1602</Pdo>
-									<Pdo>#x1604</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1605</Pdo>
-									<Pdo>#x1607</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323532312d31303031</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>e903fa03</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1405</Index>
-								<Name>ENC RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1407</Index>
-								<Name>PTO RxPDO-Par Target</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1600</Index>
-								<Name>RxPDO-Map</Name>
-								<Type>DT1600</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>10010070</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>10020070</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
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-							</DataType>
-							<DataType>
-								<Name>DT0802EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp aktiv</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last output value aktiv</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0804EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>272</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Digital input 1</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ready to enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Warning</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Info data 1</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Info data 2</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Reset</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>232</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Invert polarity</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Default output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Max current [%]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Kp factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Ki factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Kd factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>30</SubIdx>
-									<Name>Dithering frequency [Hz]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>31</SubIdx>
-									<Name>Dithering amplitude [%]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>33</SubIdx>
-									<Name>Select info data 1</Name>
-									<Type>DT0802EN08</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>216</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>34</SubIdx>
-									<Name>Select info data 2</Name>
-									<Type>DT0804EN08</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800F</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Gain</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Overtemperature</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Undervoltage</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Overvoltage</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Short circuit</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF900</Name>
-								<BitSize>40</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Voltage [mV]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Temperature [°C]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTFB00</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Request</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Status</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Response</Name>
-									<Type>ARRAY [0..3] OF BYTE</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>8913fa00</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c32353335</DefaultData>
-								</Info>
-								<Flags>
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-					<Index>#x1600</Index>
-					<Name>PWM Control Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable dithering</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Reset</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2">
-					<Index>#x1601</Index>
-					<Name>PWM Control Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable dithering</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Reset</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>PWM Status Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Digital input 1</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>7</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1800</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PWM Synchron info data Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 1</Name>
-						<DataType>INT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 2</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a02</Index>
-					<Name>PWM Status Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Digital input 1</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>7</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a03</Index>
-					<Name>PWM Synchron info data Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 1</Name>
-						<DataType>INT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 2</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003000a000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9e73052" RevisionNo="#x00100002">EL2535-0002</Type>
-				<Name LcId="1033">EL2535-0002 2Ch. Pulse Width Current Output (24V, 2 A)</Name>
-				<Name LcId="1031">EL2535-0002 2K. Pulsweiten Strom Ausgang (24V, 2 A)</Name>
-				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
-				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Extended info data</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-									<Pdo>#x1a03</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..3] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp aktiv</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last output value aktiv</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0804EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
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-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
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-									<Name>SubIndex 000</Name>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<Name>Elements</Name>
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-									<BitOffs>16</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-									<Name>SubIndex 000</Name>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-									<Name>Checksum</Name>
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-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-									<Name>SubIndex 001</Name>
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-										<Access>ro</Access>
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-									<Type>UDINT</Type>
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-										<Access>ro</Access>
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-									<Name>SubIndex 004</Name>
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-										<Access>ro</Access>
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-									<Name>SubIndex 005</Name>
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-								<BitSize>272</BitSize>
-								<SubItem>
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-									<Name>SubIndex 000</Name>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Digital input 1</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ready to enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Warning</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Info data 1</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Info data 2</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Reset</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>232</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Invert polarity</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Default output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Max current [%]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
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-								<SubItem>
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-								<SubItem>
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-											<DefaultData>0000</DefaultData>
-										</Info>
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-										<Info>
-											<DefaultData>0040</DefaultData>
-										</Info>
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-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
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-								<Index>#x8010</Index>
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-								<Type>DT8000</Type>
-								<BitSize>232</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>22</DefaultData>
-										</Info>
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-									<SubItem>
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-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Invert polarity</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Watchdog</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Offset</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Gain</Name>
-										<Info>
-											<MinValue>#xfffe0000</MinValue>
-											<MaxValue>#x1ffff</MaxValue>
-											<DefaultValue>#x10000</DefaultValue>
-										</Info>
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-									<SubItem>
-										<Name>Default output</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Default output ramp</Name>
-										<Info>
-											<MinValue>#x1</MinValue>
-											<MaxValue>#xffff</MaxValue>
-											<DefaultValue>#xffff</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Max current [%]</Name>
-										<Info>
-											<MinValue>#x1</MinValue>
-											<MaxValue>#x64</MaxValue>
-											<DefaultValue>#x64</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Kp factor</Name>
-										<Info>
-											<DefaultData>fa00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ki factor</Name>
-										<Info>
-											<DefaultData>0400</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Kd factor</Name>
-										<Info>
-											<DefaultData>3200</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Dithering frequency [Hz]</Name>
-										<Info>
-											<MinValue>#x1</MinValue>
-											<MaxValue>#x1f4</MaxValue>
-											<DefaultValue>#x64</DefaultValue>
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-									<SubItem>
-										<Name>Dithering amplitude [%]</Name>
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-											<MinValue>#x1</MinValue>
-											<MaxValue>#x1e</MaxValue>
-											<DefaultValue>#xa</DefaultValue>
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-									<SubItem>
-										<Name>Select info data 1</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
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-								<Index>#x801f</Index>
-								<Name>PWM Vendor data Ch.2</Name>
-								<Type>DT800F</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
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-										<Name>Offset</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
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-									<SubItem>
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-											<DefaultData>0040</DefaultData>
-										</Info>
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-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xa000</Index>
-								<Name>PWM Diag data Ch.1</Name>
-								<Type>DTA000</Type>
-								<BitSize>24</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>07</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Overtemperature</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Undervoltage</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Overvoltage</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Short circuit</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#xa010</Index>
-								<Name>PWM Diag data Ch.2</Name>
-								<Type>DTA000</Type>
-								<BitSize>24</BitSize>
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-										<Info>
-											<DefaultData>07</DefaultData>
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-									<SubItem>
-										<Name>Overtemperature</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Undervoltage</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
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-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Short circuit</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#xf000</Index>
-								<Name>Modular device profile</Name>
-								<Type>DTF000</Type>
-								<BitSize>48</BitSize>
-								<Info>
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-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Module index distance</Name>
-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0200</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#xf010</Index>
-								<Name>Module list</Name>
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-								<BitSize>80</BitSize>
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-										<Info>
-											<DefaultData>fa000000</DefaultData>
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-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#xf900</Index>
-								<Name>PWM Info data</Name>
-								<Type>DTF900</Type>
-								<BitSize>40</BitSize>
-								<Info>
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-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
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-										<Name>Voltage [mV]</Name>
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-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#xfb00</Index>
-								<Name>PWM Command</Name>
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-								<Info>
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-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-						</Objects>
-					</Dictionary>
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-				<Fmmu>Inputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
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-				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
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-					<Name>PWM Control Channel 1</Name>
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-						<DataType>BOOL</DataType>
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-						<Index>#x0</Index>
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-					<Entry>
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-						<BitLen>16</BitLen>
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-						<DataType>INT</DataType>
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-						<DataType>BOOL</DataType>
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-						<SubIndex>6</SubIndex>
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-						<DataType>BOOL</DataType>
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-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
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-					<Entry>
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-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>INT</DataType>
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-					<Index>#x1a00</Index>
-					<Name>PWM Status Channel 1</Name>
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-						<Index>#x6000</Index>
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-						<BitLen>1</BitLen>
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-						<Index>#x0</Index>
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-						<Index>#x6000</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
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-						<Index>#x6000</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
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-					<Entry>
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-					<Entry>
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-						<Name>Status__TxPDO Toggle</Name>
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-					<Index>#x1a01</Index>
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-					<Index>#x1a02</Index>
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-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Digital input 1</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
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-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
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-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>7</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
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-				<TxPdo Fixed="1">
-					<Index>#x1a03</Index>
-					<Name>PWM Synchron info data Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 1</Name>
-						<DataType>INT</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 2</Name>
-						<DataType>INT</DataType>
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-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003000a000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9e73052" RevisionNo="#x00100032">EL2535-0050</Type>
-				<Name LcId="1033">EL2535-0050 2Ch. Pulse Width Current Output (24V, 50 mA)</Name>
-				<Name LcId="1031">EL2535-0050 2K. Pulsweiten Strom Ausgang (24V, 50 mA)</Name>
-				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
-				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
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-							<AlternativeSmMapping>
-								<Name>Extended info data</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-									<Pdo>#x1a03</Pdo>
-								</Sm>
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-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..3] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp aktiv</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last output value aktiv</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0804EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>272</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Digital input 1</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ready to enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Warning</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Info data 1</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Info data 2</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Reset</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>232</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Invert polarity</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Default output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Max current [%]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Kp factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Ki factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Kd factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>30</SubIdx>
-									<Name>Dithering frequency [Hz]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>31</SubIdx>
-									<Name>Dithering amplitude [%]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>33</SubIdx>
-									<Name>Select info data 1</Name>
-									<Type>DT0802EN08</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>216</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>34</SubIdx>
-									<Name>Select info data 2</Name>
-									<Type>DT0804EN08</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800F</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Gain</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Overtemperature</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Undervoltage</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Overvoltage</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Short circuit</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF900</Name>
-								<BitSize>40</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Voltage [mV]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Temperature [°C]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTFB00</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-							</Object>
-							<Object>
-								<Index>#xf900</Index>
-								<Name>PWM Info data</Name>
-								<Type>DTF900</Type>
-								<BitSize>40</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Voltage [mV]</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Temperature [°C]</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xfb00</Index>
-								<Name>PWM Command</Name>
-								<Type>DTFB00</Type>
-								<BitSize>72</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>PWM Control Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable dithering</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Reset</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2">
-					<Index>#x1601</Index>
-					<Name>PWM Control Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable dithering</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Reset</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>PWM Status Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Digital input 1</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>7</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1800</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PWM Synchron info data Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 1</Name>
-						<DataType>INT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 2</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a02</Index>
-					<Name>PWM Status Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Digital input 1</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>7</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a03</Index>
-					<Name>PWM Synchron info data Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 1</Name>
-						<DataType>INT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 2</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003000a000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0a2a3052" RevisionNo="#x00100000">EL2602</Type>
-				<Name LcId="1033"><![CDATA[EL2602 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
-				<Name LcId="1031"><![CDATA[EL2602 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2602]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2602]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>170</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0a343052" RevisionNo="#x00100000">EL2612</Type>
-				<Name LcId="1033"><![CDATA[EL2612 2Ch. Relay Output, CO (125V AC / 30V DC)]]></Name>
-				<Name LcId="1031"><![CDATA[EL2612 2K. Relais Ausgang, Wechsler (125V AC / 30V DC)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2612]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2612]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>150</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0a3e3052" RevisionNo="#x00100000">EL2622</Type>
-				<Name LcId="1033"><![CDATA[EL2622 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
-				<Name LcId="1031"><![CDATA[EL2622 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2622]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2622]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>170</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0A403052" RevisionNo="#x00100000">EL2624</Type>
-				<Name LcId="1033"><![CDATA[EL2624 4Ch. Relay Output, NO (125V AC / 30V DC)]]></Name>
-				<Name LcId="1031"><![CDATA[EL2624 4K. Relais Ausgang, Schließer (125V AC / 30V DC)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2624]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2624]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>200</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0a983052" RevisionNo="#x00100000">EL2712</Type>
-				<Name LcId="1033"><![CDATA[EL2712 2Ch. Triac Output 12..230V AC, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2712 2K. Triac Ausgang 12..230V AC, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2712]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2712]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0aa23052" RevisionNo="#x00100000">EL2722</Type>
-				<Name LcId="1033"><![CDATA[EL2722 2Ch. Triac Output 12..230V AC, 1.0A, mutually locked]]></Name>
-				<Name LcId="1031"><![CDATA[EL2722 2K. Triac Ausgang 12..230V AC, 1.0A, gegenseitig verriegelt]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2722]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2722]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0aac3052" RevisionNo="#x00100000">EL2732</Type>
-				<Name LcId="1033"><![CDATA[EL2732 2Ch. Triac Output 12..230V AC, 0.5A, no power contacts]]></Name>
-				<Name LcId="1031"><![CDATA[EL2732 2K. Triac Ausgang 12..230V AC, 0.5A, keine Powerkontakte]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2732]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2732]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0AEE3052" RevisionNo="#x00100000">EL2798</Type>
-				<Name LcId="1033"><![CDATA[EL2798 8Ch. Dig. Output 24V AC/DC, 2A, potential-free]]></Name>
-				<Name LcId="1031"><![CDATA[EL2798 8K. Dig. Ausgang 24V AC/DC, 2A, potentialfrei]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2798]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2798]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>140</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1605</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x7050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1606</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x7060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1607</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0AF83052" RevisionNo="#x00100000">EL2808</Type>
-				<Name LcId="1033"><![CDATA[EL2808 8Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2808 8K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2808]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2808]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1605</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x7050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1606</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x7060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1607</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000ff00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0AF93052" RevisionNo="#x00100000">EL2809</Type>
-				<Name LcId="1033"><![CDATA[EL2809 16Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2809 16K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2809]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2809]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>140</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1605</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x7050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1606</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x7060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1607</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1608</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x7080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1609</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x7090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160a</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x70a0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x70b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x70c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x70d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x70e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x70f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000ff00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0B383052" RevisionNo="#x00100000">EL2872</Type>
-				<Name LcId="1033"><![CDATA[EL2872 16Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2872 16K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2872]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2872]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
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-				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1605</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x7050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1606</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x7060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1607</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1608</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x7080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
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-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000ff00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0B493052" RevisionNo="#x00100000">EL2889</Type>
-				<Name LcId="1033"><![CDATA[EL2889 16Ch. Dig. Output 24V, 0.5A, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL2889 16K. Dig. Ausgang 24V, 0.5A, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2889]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2889]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>140</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
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-				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
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-					<Entry>
-						<Index>#x70f0</Index>
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-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000ff00</ConfigData>
-				</Eeprom>
-			</Device>
-		</Devices>
-	</Descriptions>
-</EtherCATInfo>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_rv3.xml
--- a/tests/ethercat/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_rv3.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,3734 +0,0 @@
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-    <Name>HIGEN Motor Co., Ltd.</Name>
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-      </Group>
-    </Groups>
-    <Devices>
-      <Device Physics="YY">
-        <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000003">EDA7000 CoE Drive</Type>
-        <Name LcId="1033"><![CDATA[EDA7000 CoE Servo Drive]]></Name>
-        <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
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-            <Behavior StartToSafeopNoSync="false" />
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-        <GroupType>Drive</GroupType>
-        <Profile>
-          <ProfileNo>402</ProfileNo>
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-                  <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>208</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>1 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>2 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>3 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>4 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>112</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>5 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>144</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>6 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>176</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT1A00</Name>
-                <BitSize>176</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>1 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>2 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>3 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>4 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>112</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>5 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>144</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT1A02</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>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>1 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>2 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>3 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>4 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>112</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>5 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>144</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>6 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>176</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>7</SubIdx>
-                  <Name>7 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>208</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>8</SubIdx>
-                  <Name>8 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>240</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>9</SubIdx>
-                  <Name>9 mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>272</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT1C12</Name>
-                <BitSize>32</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Assign1</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT1C32</Name>
-                <BitSize>384</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Sync mode</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Cycle time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Shift time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Sync modes supported</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>96</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>Minimum cycle time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>112</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>Calc and copy time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>144</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>8</SubIdx>
-                  <Name>Get cycle time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>176</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>9</SubIdx>
-                  <Name>Delay time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>208</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>10</SubIdx>
-                  <Name>Sync0 time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>240</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>11</SubIdx>
-                  <Name>Cycle exceeded counter</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>272</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>12</SubIdx>
-                  <Name>SM event missed counter</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>304</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>13</SubIdx>
-                  <Name>Shift too short counter</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>336</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>32</SubIdx>
-                  <Name>Sync error</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>368</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT607D</Name>
-                <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 Software position limit</Name>
-                  <Type>DINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Maximum Software position limit</Name>
-                  <Type>DINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT6099</Name>
-                <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>
-              <DataType>
-                <Name>DT20A0</Name>
-                <BitSize>368</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>Alarm history 1</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Alarm history 2</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Alarm history 3</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Alarm history 4</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>112</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>Alarm history 5</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>144</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>Alarm history 6</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>176</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>7</SubIdx>
-                  <Name>Alarm history 7</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>208</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>8</SubIdx>
-                  <Name>Alarm history 8</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>240</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>9</SubIdx>
-                  <Name>Alarm history 9</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>272</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>10</SubIdx>
-                  <Name>Alarm history 10</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>304</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>11</SubIdx>
-                  <Name>Alarm Reset</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>336</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT20A2</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>Invalid Frame Counter</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Rx Error Counter</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Lost Link Counter</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Counter Reset</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
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-                <SubItem>
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-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
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-                <SubItem>
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-                  <Flags>
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-                    <Category>o</Category>
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-                <SubItem>
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-                  <Flags>
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-                    <Category>o</Category>
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-                <SubItem>
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-                  <Flags>
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-                    <Category>o</Category>
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-                <SubItem>
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-                    <Category>o</Category>
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-                <SubItem>
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-                <SubItem>
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-                <SubItem>
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-                <SubItem>
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-                    <Info>
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-                      <!-- 4 -> 2  -->
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-                    <Name>Vendor ID</Name>
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-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Delay time</Name>
-                    <Info>
-                      <DefaultData>A0860100</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Sync0 time</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Cycle exceeded counter</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>SM event missed counter</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Shift too short counter</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Sync error</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2000</Index>
-                <Name>Drive ID (P01-11)</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2001</Index>
-                <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
-                <Type>USINT</Type>
-                <BitSize>8</BitSize>
-                <Info>
-                  <DefaultData>09</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2002</Index>
-                <Name>Pulse Out Rate (P01-14)</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>00020000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2003</Index>
-                <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0100</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2004</Index>
-                <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2010</Index>
-                <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>0000000A</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2011</Index>
-                <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>00000000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2012</Index>
-                <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>00000000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2013</Index>
-                <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>000001F4</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2014</Index>
-                <Name>Brake Time (x0.1ms) (P02-08)</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>00000032</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2015</Index>
-                <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>0000000A</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2016</Index>
-                <Name>Notch Filter 1 Mode (P02-10)</Name>
-                <Type>USINT</Type>
-                <BitSize>8</BitSize>
-                <Info>
-                  <DefaultData>00</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2017</Index>
-                <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>00000BB8</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2018</Index>
-                <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>000003B6</DefaultData>
-                </Info>
-                <Flags>
-                  <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>
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-              <Object>
-                <Index>#x2025</Index>
-                <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0003</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>
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-              <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>
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-              <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>
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-              <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>
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-                <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>
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-              <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>
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-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
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-              </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>
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-                <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>
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-                </Flags>
-              </Object>
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-                <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>#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>
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-                  <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>
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-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
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-                <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>
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-                  <Category>o</Category>
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-              </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>
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-                  <Category>o</Category>
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-              <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>
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-              </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>
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-                  <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>#x2051</Index>
-                <Name>Actual peak torque limit</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>T</PdoMapping>
-                </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>
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-                      <DefaultData>55550300</DefaultData>
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-                      <DefaultData>88080000</DefaultData>
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-                <Index>#x60BA</Index>
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-                <Info>
-                  <DefaultData>00000000</DefaultData>
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-                  <PdoMapping>T</PdoMapping>
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-              </Object>
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-                <Index>#x60BB</Index>
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-                  <DefaultData>00000000</DefaultData>
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-                  <DefaultData>E803</DefaultData>
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-                  <DefaultData>E803</DefaultData>
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-                <Index>#x60F4</Index>
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-                  <DefaultData>00000000</DefaultData>
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-                  <DefaultData>00000000</DefaultData>
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-                <Index>#x60FE</Index>
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-                  <SubItem>
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-                      <DefaultData>00000000</DefaultData>
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-                <Index>#x6502</Index>
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-                <Index>#x20A0</Index>
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-                  <SubItem>
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-                  </SubItem>
-                  <SubItem>
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-                      <DefaultData>00000000</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Alarm history 2</Name>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Alarm history 3</Name>
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-                      <DefaultData>00000000</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Alarm history 4</Name>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Alarm history 5</Name>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Alarm history 6</Name>
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-                      <DefaultData>00000000</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Alarm history 7</Name>
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-                  <SubItem>
-                    <Name>Alarm history 8</Name>
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-                  <SubItem>
-                    <Name>Alarm history 9</Name>
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-                  <SubItem>
-                    <Name>Alarm history 10</Name>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Alarm Reset</Name>
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-                      <DefaultData>00000000</DefaultData>
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-                  </SubItem>
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-                  <SubItem>
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-                    </Info>
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-                  <SubItem>
-                    <Name>Lost Link Counter</Name>
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-                    </Info>
-                  </SubItem>
-                  <SubItem>
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-                <Index>#x6080</Index>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Motor revolutions</Name>
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-                    </Info>
-                  </SubItem>
-                </Info>
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-                  <Access>rw</Access>
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-              </Object>
-              <Object>
-                <Index>#x6090</Index>
-                <Name>Velocity Encoder revolution</Name>
-                <Type>DT6090</Type>
-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>02</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Encoder incremets per second</Name>
-                    <Info>
-                      <DefaultData>00000200</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Motor revolutions per second</Name>
-                    <Info>
-                      <DefaultData>01000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x6092</Index>
-                <Name>Feed constant</Name>
-                <Type>DT6092</Type>
-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>02</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Feed</Name>
-                    <Info>
-                      <DefaultData>00020000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Shaft revolutions</Name>
-                    <Info>
-                      <DefaultData>00000001</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x6403</Index>
-                <Name>Motor catalog number</Name>
-                <Type>STRING(4)</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>30303030</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x1008</Index>
-                <Name>Manufacturer Device Name</Name>
-                <Type>STRING(12)</Type>
-                <BitSize>96</BitSize>
-                <Info>
-                  <DefaultData>454441373030300000000000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x6072</Index>
-                <Name>Max torque</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>8813</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2028</Index>
-                <Name>Redundancy Enable</Name>
-                <Type>USINT</Type>
-                <BitSize>8</BitSize>
-                <Info>
-                  <DefaultData>00</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-            </Objects>
-          </Dictionary>
-        </Profile>
-        <Fmmu Sm="2">Outputs</Fmmu>
-        <Fmmu Sm="3">Inputs</Fmmu>
-        <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-        <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-        <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
-        <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
-        <Su>Drives</Su>
-        <RxPdo Sm="2">
-          <Index>#x1600</Index>
-          <Name>Receive PDO mapping</Name>
-          <Exclude>#x1601</Exclude>
-          <Exclude>#x1602</Exclude>
-          <Entry>
-            <Index>#x6040</Index>
-            <!-- ControlWord -->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Controlword</Name>
-            <Comment>object 0x6040:0</Comment>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x607A</Index>
-            <!-- Target Position -->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Target Position</Name>
-            <Comment>object 0x607A:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60FF</Index>
-            <!-- Target Velocity -->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Target Velocity</Name>
-            <Comment>object 0x60FF:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6071</Index>
-            <!-- Target Torque -->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Target Torque</Name>
-            <Comment>object 0x6071:0</Comment>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6060</Index>
-            <!-- Mode of Operation -->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Mode of Operation</Name>
-            <Comment>object 0x6060:0</Comment>
-            <DataType>SINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>0</Index>
-            <!--Padding-->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-          </Entry>
-        </RxPdo>
-        <RxPdo Fixed="1">
-          <Index>#x1601</Index>
-          <Name>Receive PDO mapping</Name>
-          <Exclude>#x1600</Exclude>
-          <Exclude>#x1602</Exclude>
-          <Entry>
-            <Index>#x6040</Index>
-            <!-- ControlWord -->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Controlword</Name>
-            <Comment>object 0x6040:0</Comment>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60FF</Index>
-            <!-- Target Velocity -->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Target Velocity</Name>
-            <Comment>object 0x60FF:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60E0</Index>
-            <!--Positive Torque Limit Value-->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Positive Torque Limit Value</Name>
-            <Comment>object 0x60E0:0</Comment>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60E1</Index>
-            <!--Negative Torque Limit Value-->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Negative Torque Limit Value</Name>
-            <Comment>object 0x60E1:0</Comment>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6060</Index>
-            <!-- Mode of Operation -->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Mode of Operation</Name>
-            <Comment>object 0x6060:0</Comment>
-            <DataType>SINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>0</Index>
-            <!--Padding-->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-          </Entry>
-        </RxPdo>
-        <RxPdo Fixed="1">
-          <Index>#x1602</Index>
-          <Name>Receive PDO mapping</Name>
-          <Exclude>#x1600</Exclude>
-          <Exclude>#x1601</Exclude>
-          <Entry>
-            <Index>#x6040</Index>
-            <!-- ControlWord -->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Controlword</Name>
-            <Comment>object 0x6040:0</Comment>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x607A</Index>
-            <!-- Target Position -->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Target Position</Name>
-            <Comment>object 0x607A:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60FF</Index>
-            <!-- Target Velocity -->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Target Velocity</Name>
-            <Comment>object 0x60FF:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60B8</Index>
-            <!--Touch Probe Function-->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Touch Probe Function</Name>
-            <Comment>object 0x60B8:0</Comment>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6060</Index>
-            <!-- Mode of Operation -->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Mode of Operation</Name>
-            <Comment>object 0x6060:0</Comment>
-            <DataType>SINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>0</Index>
-            <!--Padding-->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-          </Entry>
-        </RxPdo>
-        <TxPdo Sm="3">
-          <Index>#x1A00</Index>
-          <Name>Transmit PDO mapping</Name>
-          <Exclude>#x1A01</Exclude>
-          <Exclude>#x1A02</Exclude>
-          <Entry>
-            <Index>#x6041</Index>
-            <!-- Status Word -->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Statusword</Name>
-            <Comment>object 0x6041:0</Comment>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6064</Index>
-            <!-- Actual Position -->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Position actual value</Name>
-            <Comment>object 0x6064:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6077</Index>
-            <!-- Actual Toruque -->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Torque actual value</Name>
-            <Comment>object 0x6077:0</Comment>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6061</Index>
-            <!-- Mode of Operation Display -->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Modes of operation display</Name>
-            <Comment>object 0x6061:0</Comment>
-            <DataType>SINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>0</Index>
-            <!--Padding-->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-          </Entry>
-        </TxPdo>
-        <TxPdo Fixed="1">
-          <Index>#x1A01</Index>
-          <Name>Transmit PDO mapping</Name>
-          <Exclude>#x1A00</Exclude>
-          <Exclude>#x1A02</Exclude>
-          <Entry>
-            <Index>#x6041</Index>
-            <!-- Status Word -->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Statusword</Name>
-            <Comment>object 0x6041:0</Comment>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6064</Index>
-            <!-- Actual Position -->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Position actual value</Name>
-            <Comment>object 0x6064:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x606C</Index>
-            <!-- Actual Velocity-->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name> Actual Velocity</Name>
-            <Comment>object 0x606C:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6077</Index>
-            <!-- Actual Toruque -->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Torque actual value</Name>
-            <Comment>object 0x6077:0</Comment>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2051</Index>
-            <!--Actual peak torque limit-->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual peak torque limit</Name>
-            <Comment>object 0x2051:0</Comment>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6061</Index>
-            <!-- Mode of Operation Display -->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Modes of operation display</Name>
-            <Comment>object 0x6061:0</Comment>
-            <DataType>SINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>0</Index>
-            <!--Padding-->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-          </Entry>
-        </TxPdo>
-        <TxPdo Fixed="1">
-          <Index>#x1A02</Index>
-          <Name>Transmit PDO mapping</Name>
-          <Exclude>#x1A00</Exclude>
-          <Exclude>#x1A01</Exclude>
-          <Entry>
-            <Index>#x6041</Index>
-            <!-- Status Word -->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Statusword</Name>
-            <Comment>object 0x6041:0</Comment>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6064</Index>
-            <!-- Actual Position -->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Position actual value</Name>
-            <Comment>object 0x6064:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x606C</Index>
-            <!-- Actual Velocity-->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name> Actual Velocity</Name>
-            <Comment>object 0x606C:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60B9</Index>
-            <!--Touch Probe Status-->
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Touch Probe Status</Name>
-            <Comment>object 0x60B9:0</Comment>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60BA</Index>
-            <!--Touch Probe Pos1 Pos Value-->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Touch Probe Pos1 Pos Value</Name>
-            <Comment>object 0x60BA:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60BB</Index>
-            <!--Touch Probe Pos1 Neg Value-->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Touch Probe Pos1 Neg Value</Name>
-            <Comment>object 0x60BB:0</Comment>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60FD</Index>
-            <!--Digital Inputs-->
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Digital Inputs</Name>
-            <Comment>object 0x60FD:0</Comment>
-            <DataType>UDINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6061</Index>
-            <!-- Mode of Operation Display -->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Modes of operation display</Name>
-            <Comment>object 0x6061:0</Comment>
-            <DataType>SINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>0</Index>
-            <!--Padding-->
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-          </Entry>
-        </TxPdo>
-        <Mailbox>
-          <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoConfig="true" PdoAssign="true" SdoInfo="false"></CoE>
-        </Mailbox>
-        <Dc>
-          <OpMode>
-            <Name>DC</Name>
-            <Desc>DC-Synchron by Sync0</Desc>
-            <AssignActivate>#x300</AssignActivate>
-            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-            <ShiftTimeSync0>0</ShiftTimeSync0>
-            <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-            <ShiftTimeSync1>0</ShiftTimeSync1>
-          </OpMode>
-          <OpMode>
-            <Name>Free-run</Name>
-            <Desc>DC unused</Desc>
-            <AssignActivate>#x0000</AssignActivate>
-          </OpMode>
-        </Dc>
-        <Eeprom>
-          <ByteSize>2048</ByteSize>
-          <ConfigData>080C0244320000000000</ConfigData>
-        </Eeprom>
-        <Image16x14>DRIVE</Image16x14>
-      </Device>
-    </Devices>
-  </Descriptions>
-</EtherCATInfo>
\ No newline at end of file
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/ethercat@etherlab/modules/modules_extra_params.cfg
--- a/tests/ethercat/wago_higen/ethercat@etherlab/modules/modules_extra_params.cfg	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-Vendor;product_code;revision_number;pdo_alignment;max_pdo_size;add_pdo
-1573;1768449365;3;16;10;
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_higen/plc.xml
--- a/tests/ethercat/wago_higen/plc.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1049 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project xmlns="http://www.plcopen.org/xml/tc6.xsd"
-         xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd"
-         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-         xmlns:xhtml="http://www.w3.org/1999/xhtml">
-  <fileHeader companyName="Laurent BESSARD"
-              productName="test_ethercat"
-              productVersion="1.0"
-              creationDateTime="2011-10-20T19:01:52"/>
-  <contentHeader name="test_ethercat"
-                 modificationDateTime="2013-06-24T20:55:15">
-    <coordinateInfo>
-      <fbd>
-        <scaling x="0" y="0"/>
-      </fbd>
-      <ld>
-        <scaling x="0" y="0"/>
-      </ld>
-      <sfc>
-        <scaling x="0" y="0"/>
-      </sfc>
-    </coordinateInfo>
-  </contentHeader>
-  <types>
-    <dataTypes/>
-    <pous>
-      <pou name="Prog" pouType="program">
-        <interface>
-          <localVars>
-            <variable name="CLOCK" address="%QX0.0.2.28672.1">
-              <type>
-                <BOOL/>
-              </type>
-            </variable>
-            <variable name="GREENLED" address="%QX0.0.2.28688.1">
-              <type>
-                <BOOL/>
-              </type>
-              <initialValue>
-                <simpleValue value="TRUE"/>
-              </initialValue>
-            </variable>
-            <variable name="ControlWord" address="%QW0.0.3.24640.0">
-              <type>
-                <UINT/>
-              </type>
-            </variable>
-            <variable name="StatusWord" address="%IW0.0.3.24641.0">
-              <type>
-                <UINT/>
-              </type>
-            </variable>
-            <variable name="Mode" address="%QB0.0.3.24672.0">
-              <type>
-                <SINT/>
-              </type>
-            </variable>
-            <variable name="ModeDisplay" address="%IB0.0.3.24673.0">
-              <type>
-                <SINT/>
-              </type>
-            </variable>
-            <variable name="ActualPosition" address="%ID0.0.3.24676.0">
-              <type>
-                <DINT/>
-              </type>
-            </variable>
-            <variable name="ActualVelocity" address="%ID0.0.3.24684.0">
-              <type>
-                <DINT/>
-              </type>
-            </variable>
-            <variable name="TargetPosition" address="%QD0.0.3.24698.0">
-              <type>
-                <DINT/>
-              </type>
-            </variable>
-            <variable name="TargetVelocity" address="%QD0.0.3.24831.0">
-              <type>
-                <DINT/>
-              </type>
-            </variable>
-            <variable name="DigitalInputs" address="%ID0.0.3.24829.0">
-              <type>
-                <UDINT/>
-              </type>
-            </variable>
-          </localVars>
-        </interface>
-        <body>
-          <ST>
-<![CDATA[CLOCK := NOT CLOCK;]]>
-          </ST>
-        </body>
-      </pou>
-      <pou name="test_MCL" pouType="program">
-        <interface>
-          <localVars>
-            <variable name="CLOCK">
-              <type>
-                <UDINT/>
-              </type>
-            </variable>
-          </localVars>
-          <localVars>
-            <variable name="Axis" address="%IW0.0.3.402">
-              <type>
-                <derived name="AXIS_REF"/>
-              </type>
-            </variable>
-          </localVars>
-          <localVars>
-            <variable name="switch">
-              <type>
-                <derived name="MC_Power"/>
-              </type>
-            </variable>
-            <variable name="move1">
-              <type>
-                <derived name="MC_MoveAbsolute"/>
-              </type>
-            </variable>
-            <variable name="ActualPosition">
-              <type>
-                <DINT/>
-              </type>
-            </variable>
-            <variable name="Valid">
-              <type>
-                <BOOL/>
-              </type>
-            </variable>
-            <variable name="Pn">
-              <type>
-                <LREAL/>
-              </type>
-            </variable>
-            <variable name="Vn">
-              <type>
-                <LREAL/>
-              </type>
-            </variable>
-            <variable name="MC_MoveVelocity0">
-              <type>
-                <derived name="MC_MoveVelocity"/>
-              </type>
-            </variable>
-            <variable name="MC_MoveAbsolute0">
-              <type>
-                <derived name="MC_MoveAbsolute"/>
-              </type>
-            </variable>
-            <variable name="readpos">
-              <type>
-                <derived name="MC_ReadActualPosition"/>
-              </type>
-            </variable>
-            <variable name="readspeed">
-              <type>
-                <derived name="MC_ReadParameter"/>
-              </type>
-            </variable>
-            <variable name="MC_SetPosition0">
-              <type>
-                <derived name="MC_SetPosition"/>
-              </type>
-            </variable>
-          </localVars>
-        </interface>
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-              <position x="549" y="702"/>
-              <connectionPointOut>
-                <relPosition x="32" y="16"/>
-              </connectionPointOut>
-              <expression>10</expression>
-            </inVariable>
-            <inVariable localId="34" height="32" width="96">
-              <position x="485" y="663"/>
-              <connectionPointOut>
-                <relPosition x="96" y="16"/>
-              </connectionPointOut>
-              <expression>BOOL#TRUE</expression>
-            </inVariable>
-            <outVariable localId="27" height="32" width="32">
-              <position x="837" y="822"/>
-              <connectionPointIn>
-                <relPosition x="0" y="16"/>
-                <connection refLocalId="32" formalParameter="Value">
-                  <position x="837" y="838"/>
-                  <position x="805" y="838"/>
-                </connection>
-              </connectionPointIn>
-              <expression>Vn</expression>
-            </outVariable>
-            <inVariable localId="35" height="27" width="48">
-              <position x="1693" y="252"/>
-              <connectionPointOut>
-                <relPosition x="48" y="13"/>
-              </connectionPointOut>
-              <expression>-1800.0</expression>
-            </inVariable>
-            <inVariable localId="36" height="23" width="22">
-              <position x="1719" y="226"/>
-              <connectionPointOut>
-                <relPosition x="22" y="11"/>
-              </connectionPointOut>
-              <expression>Pn</expression>
-            </inVariable>
-            <inVariable localId="37" height="27" width="46">
-              <position x="1762" y="330"/>
-              <connectionPointOut>
-                <relPosition x="46" y="13"/>
-              </connectionPointOut>
-              <expression>360.0</expression>
-            </inVariable>
-            <inVariable localId="40" height="27" width="46">
-              <position x="1763" y="297"/>
-              <connectionPointOut>
-                <relPosition x="46" y="13"/>
-              </connectionPointOut>
-              <expression>0.0</expression>
-            </inVariable>
-            <block localId="42" width="189" height="204" typeName="MC_SetPosition" instanceName="MC_SetPosition0">
-              <position x="664" y="173"/>
-              <inputVariables>
-                <variable formalParameter="Axis">
-                  <connectionPointIn>
-                    <relPosition x="0" y="38"/>
-                    <connection refLocalId="8" formalParameter="Axis">
-                      <position x="664" y="211"/>
-                      <position x="515" y="211"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="Execute">
-                  <connectionPointIn>
-                    <relPosition x="0" y="74"/>
-                    <connection refLocalId="8" formalParameter="Status">
-                      <position x="664" y="247"/>
-                      <position x="515" y="247"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="Position">
-                  <connectionPointIn>
-                    <relPosition x="0" y="110"/>
-                    <connection refLocalId="43">
-                      <position x="664" y="283"/>
-                      <position x="629" y="283"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="Relative">
-                  <connectionPointIn>
-                    <relPosition x="0" y="146"/>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="ExecutionMode">
-                  <connectionPointIn>
-                    <relPosition x="0" y="182"/>
-                  </connectionPointIn>
-                </variable>
-              </inputVariables>
-              <inOutVariables/>
-              <outputVariables>
-                <variable formalParameter="Axis">
-                  <connectionPointOut>
-                    <relPosition x="189" y="38"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="Done">
-                  <connectionPointOut>
-                    <relPosition x="189" y="74"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="Busy">
-                  <connectionPointOut>
-                    <relPosition x="189" y="110"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="Error">
-                  <connectionPointOut>
-                    <relPosition x="189" y="146"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="ErrorID">
-                  <connectionPointOut>
-                    <relPosition x="189" y="182"/>
-                  </connectionPointOut>
-                </variable>
-              </outputVariables>
-            </block>
-            <inVariable localId="43" height="27" width="54">
-              <position x="575" y="270"/>
-              <connectionPointOut>
-                <relPosition x="54" y="13"/>
-              </connectionPointOut>
-              <expression>0.0</expression>
-            </inVariable>
-          </FBD>
-        </body>
-      </pou>
-    </pous>
-  </types>
-  <instances>
-    <configurations>
-      <configuration name="conf">
-        <resource name="res">
-          <task name="main_task" interval="T#0.5ms" priority="0">
-            <pouInstance name="main_instance" typeName="Prog"/>
-            <pouInstance name="test_MCL_instance" typeName="test_MCL"/>
-          </task>
-        </resource>
-      </configuration>
-    </configurations>
-  </instances>
-</project>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/beremiz.xml
--- a/tests/ethercat/wago_sanyo/beremiz.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BeremizRoot>
-  <TargetType>
-    <Xenomai/>
-  </TargetType>
-</BeremizRoot>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/baseconfnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="ethercat" IEC_Channel="0"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/confnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<EtherlabInstance/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/baseconfnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="master" IEC_Channel="0"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/config.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/config.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,60 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<EtherCATConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd">
-  <Config>
-    <Master>
-      <Info>
-        <Name></Name>
-        <Destination>00</Destination>
-        <Source>00</Source>
-      </Info>
-    </Master>
-    <Slave>
-      <Info>
-        <Name>EK1100</Name>
-        <PhysAddr>0</PhysAddr>
-        <AutoIncAddr>0</AutoIncAddr>
-        <Physics></Physics>
-        <VendorId>2</VendorId>
-        <ProductCode>72100946</ProductCode>
-        <RevisionNo>65536</RevisionNo>
-        <SerialNo>0</SerialNo>
-      </Info>
-    </Slave>
-    <Slave>
-      <Info>
-        <Name>EL1088</Name>
-        <PhysAddr>1</PhysAddr>
-        <AutoIncAddr>0</AutoIncAddr>
-        <Physics></Physics>
-        <VendorId>2</VendorId>
-        <ProductCode>71315538</ProductCode>
-        <RevisionNo>1048576</RevisionNo>
-        <SerialNo>0</SerialNo>
-      </Info>
-    </Slave>
-    <Slave>
-      <Info>
-        <Name>EL2088</Name>
-        <PhysAddr>2</PhysAddr>
-        <AutoIncAddr>0</AutoIncAddr>
-        <Physics></Physics>
-        <VendorId>2</VendorId>
-        <ProductCode>136851538</ProductCode>
-        <RevisionNo>1048576</RevisionNo>
-        <SerialNo>0</SerialNo>
-      </Info>
-    </Slave>
-    <Slave>
-      <Info>
-        <Name>SanyoDenki RS2 EtherCAT</Name>
-        <PhysAddr>3</PhysAddr>
-        <AutoIncAddr>1</AutoIncAddr>
-        <Physics></Physics>
-        <VendorId>441</VendorId>
-        <ProductCode>2</ProductCode>
-        <RevisionNo>0</RevisionNo>
-        <SerialNo>0</SerialNo>
-      </Info>
-    </Slave>
-  </Config>
-</EtherCATConfig>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/confnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<EtherlabNode/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="coupler" IEC_Channel="0"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<SlaveParams/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="inputs" IEC_Channel="1"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<SlaveParams/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="outputs" IEC_Channel="2"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<SlaveParams/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/baseconfnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BaseParams Name="sanyo" IEC_Channel="3"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/confnode.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/confnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<CIA402SlaveParams DynamicPDOs="false" RatioNumerator="65536" RatioDenominator="180" PositionOffset="0"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EKxxxx.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EKxxxx.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,776 +0,0 @@
-<?xml version="1.0"?>
-<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
-	<Vendor>
-		<Id>2</Id>
-		<Name>Beckhoff Automation GmbH</Name>
-		<ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9</ImageData16x14>
-	</Vendor>
-	<Descriptions>
-		<Groups>
-			<Group SortOrder="390">
-				<Type>System</Type>
-				<Name LcId="1033">System Terminals</Name>
-				<Name LcId="1031">System Klemmen</Name>
-				<Image16x14>TERM_SYS</Image16x14>
-			</Group>
-			<Group SortOrder="391">
-				<Type>SystemBk</Type>
-				<Name LcId="1033">System Couplers</Name>
-				<Name LcId="1031">System Koppler</Name>
-				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
-			</Group>
-			<Group SortOrder="392">
-				<Type>Customer</Type>
-				<Name LcId="1033">Customer specific Terminals</Name>
-				<Name LcId="1031">Kundenspezifische Klemmen</Name>
-				<Image16x14>TERM_CUST</Image16x14>
-			</Group>
-		</Groups>
-		<Devices>
-			<Device Physics="YKY">
-				<Type ProductCode="#x044c2c52" RevisionNo="#x00000000">EK1100</Type>
-				<HideType ProductCode="#x044c2c52" RevisionNo="#x27070000" ProductRevision="EK1100-0000-9991"/>
-				<HideType ProductCode="#x044c2c52" RevisionNo="#x27080000" ProductRevision="EK1100-0000-9992"/>
-				<HideType ProductCode="#x044c2c52" RevisionNo="#x270b0000" ProductRevision="EK1100-0000-9995"/>
-				<HideType ProductCode="#x04b02c50" RevisionNo="#x00000000" ProductRevision="EK1200-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (0.5A E-Bus)]]></Name>
-				<Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (0.5A E-Bus)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>-500</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>SystemBk</GroupType>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0001</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="YKY">
-				<Type ProductCode="#x044c2c52" RevisionNo="#x00010000">EK1100</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EK1100-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (2A E-Bus)]]></Name>
-				<Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (2A E-Bus)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>-2000</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>SystemBk</GroupType>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0001</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="YKY">
-				<Type ProductCode="#x044c2c52" RevisionNo="#x00100000">EK1100</Type>
-				<HideType RevisionNo="#x00010000" ProductRevision="EK1100-0000-0001"/>
-				<Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (2A E-Bus)]]></Name>
-				<Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (2A E-Bus)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>-2000</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>SystemBk</GroupType>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0001</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="YKY">
-				<Type ProductCode="#x044c2c52" RevisionNo="#x00110000">EK1100</Type>
-				<HideType RevisionNo="#x00100000" ProductRevision="EK1100-0000-0010"/>
-				<Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (2A E-Bus)]]></Name>
-				<Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (2A E-Bus)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>-2000</EBusCurrent>
-					</Electrical>
-					<Port>
-						<Type>MII</Type>
-						<Label>X1 IN</Label>
-					</Port>
-					<Port>
-						<Type>EBUS</Type>
-					</Port>
-					<Port>
-						<Type>MII</Type>
-						<Label>X2 OUT</Label>
-					</Port>
-				</Info>
-				<GroupType>SystemBk</GroupType>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>000D</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="YK">
-				<Type ProductCode="#x044c2c52" RevisionNo="#x0010001e">EK1100-0030</Type>
-				<Name LcId="1033"><![CDATA[EK1100-0030 EtherCAT Coupler (2A E-Bus, 4kV galv. iso.)]]></Name>
-				<Name LcId="1031"><![CDATA[EK1100-0030 EtherCAT-Koppler (2A E-Bus, 4kV galv. Iso.)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>-2000</EBusCurrent>
-					</Electrical>
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diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EL1xxx.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EL1xxx.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,5333 +0,0 @@
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-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0101</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03EC3052" RevisionNo="#x0010000A">EL1004-0010</Type>
-				<HideType RevisionNo="#x0000000A" ProductRevision="EL1004-0010-0000"/>
-				<Name LcId="1033"><![CDATA[EL1004-0010 4Ch. Dig. Input 24V, isolated, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1004-0010 4K. Dig. Eingang 24V, galv. getrennt, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1004]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1004]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03f03052" RevisionNo="#x00100000">EL1008</Type>
-				<Name LcId="1033"><![CDATA[EL1008 8Ch. Dig. Input 24V, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1008 8K. Dig. Eingang 24V, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1008]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1008]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03f43052" RevisionNo="#x00000000">EL1012</Type>
-				<HideType RevisionNo="#x27070000" ProductRevision="EL1012-0000-9991"/>
-				<HideType RevisionNo="#x27080000" ProductRevision="EL1012-0000-9992"/>
-				<HideType RevisionNo="#x270b0000" ProductRevision="EL1012-0000-9995"/>
-				<Name LcId="1033"><![CDATA[EL1012 2Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1012 2K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1012]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1012]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0101</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03f43052" RevisionNo="#x00100000">EL1012</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL1012-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL1012 2Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1012 2K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1012]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1012]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03f63052" RevisionNo="#x00000000">EL1014</Type>
-				<HideType RevisionNo="#x27070000" ProductRevision="EL1014-0000-9991"/>
-				<HideType RevisionNo="#x27080000" ProductRevision="EL1014-0000-9992"/>
-				<HideType RevisionNo="#x270b0000" ProductRevision="EL1014-0000-9995"/>
-				<Name LcId="1033"><![CDATA[EL1014 4Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1014 4K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0101</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03f63052" RevisionNo="#x00100000">EL1014</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL1014-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL1014 4Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1014 4K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03F63052" RevisionNo="#x0000000A">EL1014-0010</Type>
-				<Name LcId="1033"><![CDATA[EL1014-0010 4Ch. Dig. Input 24V, isolated, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1014-0010 4K. Dig. Eingang 24V, galv. getrennt, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0101</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03F63052" RevisionNo="#x0010000A">EL1014-0010</Type>
-				<HideType RevisionNo="#x0000000A" ProductRevision="EL1014-0010-0000"/>
-				<Name LcId="1033"><![CDATA[EL1014-0010 4Ch. Dig. Input 24V, isolated, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1014-0010 4K. Dig. Eingang 24V, galv. getrennt, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x03fa3052" RevisionNo="#x00100000">EL1018</Type>
-				<Name LcId="1033"><![CDATA[EL1018 8Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1018 8K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1018]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1018]]></URL>
-				<Info>
-					<Electrical>
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-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
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-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
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-					<Name>Channel 1</Name>
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-						<Name>Input</Name>
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-				</TxPdo>
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-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
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-						<Index>#x6010</Index>
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-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
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-						<Name>Input</Name>
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-					<Index>#x1a06</Index>
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-						<Index>#x6060</Index>
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-						<Name>Input</Name>
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-				</TxPdo>
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-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
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-						<Name>Input</Name>
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-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04003052" RevisionNo="#x00100000">EL1024</Type>
-				<Name LcId="1033"><![CDATA[EL1024 4Ch. Dig. Input 24V, Type 2, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1024 4K. Dig. Eingang 24V, Typ-2, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1024]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1024]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x040a3052" RevisionNo="#x00100000">EL1034</Type>
-				<Name LcId="1033"><![CDATA[EL1034 4Ch. Dig. Input 24V, potential-free, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1034 4K. Dig. Eingang 24V, potenzialfrei, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1034]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1034]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x043c3052" RevisionNo="#x00100000">EL1084</Type>
-				<Name LcId="1033"><![CDATA[EL1084 4Ch. Dig. Input 24V, 3ms, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL1084 4K. Dig. Eingang 24V, 3ms, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1084]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1084]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04403052" RevisionNo="#x00100000">EL1088</Type>
-				<Name LcId="1033"><![CDATA[EL1088 8Ch. Dig. Input 24V, 3ms, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL1088 8K. Dig. Eingang 24V, 3ms, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1088]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1088]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
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-					<Index>#x1a02</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					<Name>Channel 4</Name>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000f000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04463052" RevisionNo="#x00100000">EL1094</Type>
-				<Name LcId="1033"><![CDATA[EL1094 4Ch. Dig. Input 24V, 10µs, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL1094 4K. Dig. Eingang 24V, 10µs, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1094]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1094]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x044a3052" RevisionNo="#x00100000">EL1098</Type>
-				<Name LcId="1033"><![CDATA[EL1098 8Ch. Dig. Input 24V, 10µs, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL1098 8K. Dig. Eingang 24V, 10µs, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1098]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1098]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000f000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04503052" RevisionNo="#x00100000">EL1104</Type>
-				<Name LcId="1033"><![CDATA[EL1104 4Ch. Dig. Input 24V, 3ms, Sensor Power]]></Name>
-				<Name LcId="1031"><![CDATA[EL1104 4K. Dig. Eingang 24V, 3ms, Sensorversorgung]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1104]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1104]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x045a3052" RevisionNo="#x00100000">EL1114</Type>
-				<Name LcId="1033"><![CDATA[EL1114 4Ch. Dig. Input 24V, 10µs, Sensor Power]]></Name>
-				<Name LcId="1031"><![CDATA[EL1114 4K. Dig. Eingang 24V, 10µs, Sensorversorgung]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1114]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1114]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04643052" RevisionNo="#x00100000">EL1124</Type>
-				<Name LcId="1033"><![CDATA[EL1124 4Ch. Dig. Input 5V, 10µs, Sensor Power]]></Name>
-				<Name LcId="1031"><![CDATA[EL1124 4K. Dig. Eingang 5V, 10µs, Sensorversorgung]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1124]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1124]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x046e3052" RevisionNo="#x00100000">EL1134</Type>
-				<Name LcId="1033"><![CDATA[EL1134 4Ch. Dig. Input 48V, 10µs, Sensor Power]]></Name>
-				<Name LcId="1031"><![CDATA[EL1134 4K. Dig. Eingang 48V, 10µs, Sensorversorgung]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1134]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1134]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04783052" RevisionNo="#x00100000">EL1144</Type>
-				<Name LcId="1033"><![CDATA[EL1144 4Ch. Dig. Input 12V, 10µs, Sensor Power]]></Name>
-				<Name LcId="1031"><![CDATA[EL1144 4K. Dig. Eingang 12V, 10µs, Sensorversorgung]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1144]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1144]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04b23052" RevisionNo="#x00100000">EL1202</Type>
-				<AlternativeType RevisionNo="#x00100064"/>
-				<Name LcId="1033"><![CDATA[EL1202 2Ch. Fast Dig. Input 24V, 1µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1202 2K. Fast Dig. Eingang 24V, 1µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1202]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04b23052" RevisionNo="#x00100064">EL1202-0100</Type>
-				<AlternativeType RevisionNo="#x00100000"/>
-				<Name LcId="1033"><![CDATA[EL1202-0100 2Ch. Fast Dig. Input 24V, 1µs, DC Latch]]></Name>
-				<Name LcId="1031"><![CDATA[EL1202-0100 2K. Fast Dig. Eingang 24V, 1µs, DC Latch]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1202]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu Sm="0" Su="0">Inputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Sm StartAddress="#x0990" Virtual="true">Inputs</Sm>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1a02</Index>
-					<Name>Reserved</Name>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a10</Index>
-					<Name>DC</Name>
-					<Exclude>#x1a11</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>NextLatchTime</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
-					<Index>#x1a11</Index>
-					<Name>DC</Name>
-					<Exclude>#x1a10</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>NextLatchTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcLatch</Name>
-						<Desc>DC Latch</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401200080000000</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04E43052" RevisionNo="#x00110000">EL1252</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL1252-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL1252 2Ch. Fast Dig. Input 24V, 1µs, DC Latch]]></Name>
-				<Name LcId="1031"><![CDATA[EL1252 2K. Fast Dig. Eingang 24V, 1µs, DC Latch]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu Sm="0" Su="0">Inputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Inputs</Fmmu>
-				<Fmmu Sm="2" Su="2">Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="#x22" Enable="1">Inputs</Sm>
-				<Sm StartAddress="#x09ae" Virtual="true">Inputs</Sm>
-				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a10</Index>
-					<Name>Latch</Name>
-					<Exclude>#x1a11</Exclude>
-					<Exclude>#x1a12</Exclude>
-					<Exclude>#x1a13</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xae</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status0</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xaf</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status1</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a11</Index>
-					<Name>Latch</Name>
-					<Exclude>#x1a10</Exclude>
-					<Exclude>#x1a12</Exclude>
-					<Exclude>#x1a13</Exclude>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xae</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status0</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#xb0</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>LatchPos0</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
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-			<Device Physics="KK">
-				<Type ProductCode="#x04E43052" RevisionNo="#x0013000A">EL1252-0010</Type>
-				<Name LcId="1033"><![CDATA[EL1252-0010 2Ch. Fast Dig. Input 24V, 10µs, DC Latch]]></Name>
-				<Name LcId="1031"><![CDATA[EL1252-0010 2K. Fast Dig. Eingang 24V, 10µs, DC Latch]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard (MDP 125)</Name>
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-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
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-				<GroupType>DigIn</GroupType>
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-					<AddInfo>125</AddInfo>
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-						<Name>LatchPos1</Name>
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-					<Entry>
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-						<Name>LatchNeg1</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
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-						<BitLen>64</BitLen>
-						<Name>LatchPos2</Name>
-						<DataType>ULINT</DataType>
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-					<Entry>
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-						<BitLen>64</BitLen>
-						<Name>LatchNeg2</Name>
-						<DataType>ULINT</DataType>
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-					<OpMode>
-						<Name>DcLatch</Name>
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-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x04EE3052" RevisionNo="#x00020000">EL1262</Type>
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-				<Name LcId="1031"><![CDATA[EL1262 2K. Dig. Eingang 24V, 1µs, DC Oversample]]></Name>
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-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1262]]></URL>
-				<Info>
-					<Electrical>
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-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
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-				<Fmmu Sm="1" Su="1">Inputs</Fmmu>
-				<Fmmu Sm="2" Su="2">Inputs</Fmmu>
-				<Sm StartAddress="#x1000" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<Sm StartAddress="#x1200" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<Sm StartAddress="#x0998" Virtual="true">Inputs</Sm>
-				<Su/>
-				<Su/>
-				<Su/>
-				<TxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1B00</Index>
-					<Name>Ch1 CycleCount</Name>
-					<Entry>
-						<Index>#x6800</Index>
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-						<BitLen>16</BitLen>
-						<Name>Ch1 CycleCount</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
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-					<Name>Ch1 Input</Name>
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-						<Name>Ch1 Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
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-					<Name>Ch1 Input</Name>
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-						<Index>#x6100</Index>
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-						<BitLen>8</BitLen>
-						<Name>Ch1 Input</Name>
-						<DataType>BYTE</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
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-					<Name>Gap</Name>
-					<Entry>
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-					</Entry>
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-				<TxPdo Fixed="1" Sm="0" Su="0">
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-					<Name>Gap</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
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-					<Name>Gap</Name>
-					<Entry>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
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-					<Name>Gap</Name>
-					<Entry>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
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-					<Name>Gap</Name>
-					<Entry>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
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-					<Name>Gap</Name>
-					<Entry>
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-				</TxPdo>
-				<TxPdo Fixed="1" Sm="0" Su="0">
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-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B01</Index>
-					<Name>Ch2 CycleCount</Name>
-					<Entry>
-						<Index>#x6800</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ch2 CycleCount</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
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-					<Name>Ch2 Input</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ch2 Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
-					<Index>#x1C00</Index>
-					<Name>Ch2 Input</Name>
-					<Entry>
-						<Index>#x6100</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Ch2 Input</Name>
-						<DataType>BYTE</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B18</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B19</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B1a</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B1b</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B1c</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B1d</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1B1e</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>7</BitLen>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="2" Su="2" Virtual="true">
-					<Index>#x1B05</Index>
-					<Name>NextSync1Time</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x98</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>StartTimeNextLatch</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>2 Channels - No oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="1">#x1A00</Pdo>
-							<Pdo>#x1B16</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="1">#x1A80</Pdo>
-							<Pdo>#x1B1e</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 Ch. - 2 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="2">#x1A00</Pdo>
-							<Pdo>#x1B15</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="2">#x1A80</Pdo>
-							<Pdo>#x1B1d</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync4</Name>
-						<Desc>2 Ch. - 4 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="4">#x1A00</Pdo>
-							<Pdo>#x1B13</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="4">#x1A80</Pdo>
-							<Pdo>#x1B1b</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync5</Name>
-						<Desc>2 Ch. - 5 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="5">#x1A00</Pdo>
-							<Pdo>#x1B12</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="5">#x1A80</Pdo>
-							<Pdo>#x1B1a</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync8</Name>
-						<Desc>2 Ch. - 8 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="8">#x1A00</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="8">#x1A80</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync10</Name>
-						<Desc>2 Ch. - 10 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="10">#x1A00</Pdo>
-							<Pdo>#x1B15</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="10">#x1A80</Pdo>
-							<Pdo>#x1B1d</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync16</Name>
-						<Desc>2 Ch. - 16 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="16">#x1A00</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="16">#x1A80</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync20</Name>
-						<Desc>2 Ch. - 20 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="20">#x1A00</Pdo>
-							<Pdo>#x1B13</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="20">#x1A80</Pdo>
-							<Pdo>#x1B1b</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync40</Name>
-						<Desc>2 Ch. - 40 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="40">#x1A00</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="40">#x1A80</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync50</Name>
-						<Desc>2 Ch. - 50 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="50">#x1A00</Pdo>
-							<Pdo>#x1B15</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="50">#x1A80</Pdo>
-							<Pdo>#x1B1d</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync100</Name>
-						<Desc>2 Ch. - 100 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="100">#x1A00</Pdo>
-							<Pdo>#x1B13</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="100">#x1A80</Pdo>
-							<Pdo>#x1B1b</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync200</Name>
-						<Desc>2 Ch. - 200 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="25">#x1B80</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="25">#x1C00</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync400</Name>
-						<Desc>2 Ch. - 400 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="50">#x1B80</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="50">#x1C00</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync1000</Name>
-						<Desc>2 Ch. - 1000 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="125">#x1B80</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="125">#x1C00</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1B05</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>2 Channels (Bits)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="1">#x1A00</Pdo>
-							<Pdo>#x1B15</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="1">#x1A80</Pdo>
-							<Pdo>#x1B1d</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b05</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 Channels (Bytes)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="1">#x1B80</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1B01</Pdo>
-							<Pdo OSFac="1">#x1C00</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b05</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync_1</Name>
-						<Desc>1 Channel (Bits)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="1">#x1A00</Pdo>
-							<Pdo>#x1B15</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b05</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2_1</Name>
-						<Desc>1 Channel (Bytes)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1B00</Pdo>
-							<Pdo OSFac="1">#x1B80</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b05</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0601000010000100</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x06a63052" RevisionNo="#x00100000">EL1702</Type>
-				<Name LcId="1033"><![CDATA[EL1702 2Ch. Dig. Input 120V/230V AC, 10ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1702 2K. Dig. Eingang 120V/230V AC, 10ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1702]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1702]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x06b03052" RevisionNo="#x00100000">EL1712</Type>
-				<Name LcId="1033"><![CDATA[EL1712 2Ch. Dig. Input 120V AC/DC, 10ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1712 2K. Dig. Eingang 120V AC/DC, 10ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1712]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1712]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x06ba3052" RevisionNo="#x00100000">EL1722</Type>
-				<Name LcId="1033"><![CDATA[EL1722 2Ch. Dig. Input 120V/230V AC, 10ms, no power contacts]]></Name>
-				<Name LcId="1031"><![CDATA[EL1722 2K. Dig. Eingang  120V/230V AC, 10ms, keine Powerkontakte]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1722]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1722]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x070C3052" RevisionNo="#x00100000">EL1804</Type>
-				<Name LcId="1033"><![CDATA[EL1804 4Ch. Dig. Input 24V, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1804 4K. Dig. Eingang 24V, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1804]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1804]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07103052" RevisionNo="#x00100000">EL1808</Type>
-				<Name LcId="1033"><![CDATA[EL1808 8Ch. Dig. Input 24V, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1808 8K. Dig. Eingang 24V, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1808]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1808]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07113052" RevisionNo="#x00100000">EL1809</Type>
-				<Name LcId="1033"><![CDATA[EL1809 16Ch. Dig. Input 24V, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1809 16K. Dig. Eingang 24V, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1809]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1809]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a08</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x6080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a09</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x6090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0a</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x60a0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x60b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x60c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x60d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x60e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x60f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07163052" RevisionNo="#x00100000">EL1814</Type>
-				<Name LcId="1033"><![CDATA[EL1814 4Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1814 4K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1814]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1814]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>90</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x071b3052" RevisionNo="#x00100000">EL1819</Type>
-				<Name LcId="1033"><![CDATA[EL1819 16Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1819 16K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1819]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1819]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a08</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x6080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a09</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x6090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0a</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x60a0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x60b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x60c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x60d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x60e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x60f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07433052" RevisionNo="#x00100000">EL1859</Type>
-				<Name LcId="1033"><![CDATA[EL1859 8Ch. Dig. Input 24V, 3ms, 8Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL1859 8K. Dig. Eingang 24V, 3ms, 8K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1859]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1859]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x1000" ControlByte="#x0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1608</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x7080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1609</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x7090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160A</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x70A0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160B</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x70B0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160C</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x70C0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160D</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x70D0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160E</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x70E0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x160F</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x70F0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000F0FF</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07463052" RevisionNo="#x00100000">EL1862</Type>
-				<Name LcId="1033"><![CDATA[EL1862 16Ch. Dig. Input 24V, 3ms]]></Name>
-				<Name LcId="1031"><![CDATA[EL1862 16K. Dig. Eingang 24V, 3ms]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1862]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1862]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a08</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x6080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a09</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x6090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0a</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x60a0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x60b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x60c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x60d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x60e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x60f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07463052" RevisionNo="#x0010000A">EL1862-0010</Type>
-				<Name LcId="1033"><![CDATA[EL1862-0010 16Ch. Dig. Input 24V, 3ms, negativ]]></Name>
-				<Name LcId="1031"><![CDATA[EL1862-0010 16K. Dig. Eingang 24V, 3ms, negative]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1862]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1862]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
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-					<Name>Channel 1</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
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-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
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-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
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-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
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-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
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-						<Name>Input</Name>
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-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a08</Index>
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-						<Name>Input</Name>
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-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
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-				</TxPdo>
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-				</TxPdo>
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-					<Index>#x1a0c</Index>
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-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0d</Index>
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-						<Index>#x60d0</Index>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x60e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x60f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
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-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07503052" RevisionNo="#x00100000">EL1872</Type>
-				<Name LcId="1033"><![CDATA[EL1872 16Ch. Dig. Input 24V, 10µs]]></Name>
-				<Name LcId="1031"><![CDATA[EL1872 16K. Dig. Eingang 24V, 10µs]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1872]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1872]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
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-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
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-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
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-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
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-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
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-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
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-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
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-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a08</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x6080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a09</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x6090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0a</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x60a0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x60b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x60c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x60d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
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-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x60e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x60f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07613052" RevisionNo="#x00100000">EL1889</Type>
-				<Name LcId="1033"><![CDATA[EL1889 16Ch. Dig. Input 24V, 3ms, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL1889 16K. Dig. Eingang 24V, 3ms, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1889]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1889]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>140</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigIn</GroupType>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a00</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a01</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a02</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a03</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a04</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x6040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a05</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x6050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a06</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x6060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a07</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x6070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a08</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x6080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a09</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x6090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0a</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x60a0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x60b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x60c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x60d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x60e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1a0f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x60f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Input</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000000</ConfigData>
-				</Eeprom>
-			</Device>
-		</Devices>
-	</Descriptions>
-</EtherCATInfo>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EL2xxx.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EL2xxx.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,92654 +0,0 @@
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-		<Id>2</Id>
-		<Name>Beckhoff Automation GmbH</Name>
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-	</Vendor>
-	<Descriptions>
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-				<Name LcId="1031">Digitale Ausgangklemmen (EL2xxx)</Name>
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-		</Groups>
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-				<HideType RevisionNo="#x27080000" ProductRevision="EL2002-0000-9992"/>
-				<HideType RevisionNo="#x270b0000" ProductRevision="EL2002-0000-9995"/>
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-				<Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
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-				<Info>
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-					<Name>Channel 2</Name>
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-				<Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
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-				<Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
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-				<Info>
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-						<EBusCurrent>130</EBusCurrent>
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-				<GroupType>DigOut</GroupType>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
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-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x3001</Index>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
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-					<Entry>
-						<Index>#x3001</Index>
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-				<HideType RevisionNo="#x00000000" ProductRevision="EL2004-0000-0000"/>
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-				<Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
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-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2004]]></URL>
-				<Info>
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-					<Name>Channel 2</Name>
-					<Entry>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
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-						<DataType>BOOL</DataType>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07d83052" RevisionNo="#x00100000">EL2008</Type>
-				<Name LcId="1033"><![CDATA[EL2008 8Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2008 8K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2008]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2008]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
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-						<Name>Output</Name>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
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-						<Index>#x7020</Index>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
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-						<BitLen>1</BitLen>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
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-						<Name>Output</Name>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1605</Index>
-					<Name>Channel 6</Name>
-					<Entry>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1606</Index>
-					<Name>Channel 7</Name>
-					<Entry>
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-						<Name>Output</Name>
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-					<Index>#x1607</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
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-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
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-				<Type ProductCode="#x07e63052" RevisionNo="#x00100000">EL2022</Type>
-				<Name LcId="1033"><![CDATA[EL2022 2Ch. Dig. Output 24V, 2A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2022 2K. Dig. Ausgang 24V, 2A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
-				<Info>
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-						<EBusCurrent>100</EBusCurrent>
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-				<GroupType>DigOut</GroupType>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
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-						<Name>Output</Name>
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-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
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-			<Device Physics="KK">
-				<Type ProductCode="#x07e83052" RevisionNo="#x00100000">EL2024</Type>
-				<Name LcId="1033"><![CDATA[EL2024 4Ch. Dig. Output 24V, 2A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2024 4K. Dig. Ausgang 24V, 2A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
-				<Info>
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-				<GroupType>DigOut</GroupType>
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-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
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-					<Name>Channel 2</Name>
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-					<Name>Channel 3</Name>
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-					<Name>Channel 4</Name>
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-				<Type ProductCode="#x07e83052" RevisionNo="#x0010000A">EL2024-0010</Type>
-				<Name LcId="1033"><![CDATA[EL2024-0010 4Ch. Dig. Output 12V, 2A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2024-0010 4K. Dig. Ausgang 12V, 2A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
-				<Info>
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-						<EBusCurrent>120</EBusCurrent>
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-				<GroupType>DigOut</GroupType>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
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-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07f03052" RevisionNo="#x00000000">EL2032</Type>
-				<HideType RevisionNo="#x27070000" ProductRevision="EL2032-0000-9991"/>
-				<HideType RevisionNo="#x27080000" ProductRevision="EL2032-0000-9992"/>
-				<HideType RevisionNo="#x270b0000" ProductRevision="EL2032-0000-9995"/>
-				<Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A Diag]]></Name>
-				<Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A Diag]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>120</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a00</Index>
-					<Name>Diag 1</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a01</Index>
-					<Name>Diag 2</Name>
-					<Entry>
-						<Index>#x3101</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0301</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07f03052" RevisionNo="#x00100000">EL2032</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL2032-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
-				<Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a00</Index>
-					<Name>Diag 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a01</Index>
-					<Name>Diag 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04010400</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07f23052" RevisionNo="#x00100000">EL2034</Type>
-				<Name LcId="1033"><![CDATA[EL2034 4Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
-				<Name LcId="1031"><![CDATA[EL2034 4K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2034]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2034]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>120</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x1001" ControlByte="0" Enable="0">Inputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a00</Index>
-					<Name>Diag 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a01</Index>
-					<Name>Diag 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a02</Index>
-					<Name>Diag 3</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1a03</Index>
-					<Name>Diag 4</Name>
-					<Entry>
-						<Index>#x6030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Diag</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x07fa3052" RevisionNo="#x00100000">EL2042</Type>
-				<Name LcId="1033"><![CDATA[EL2042 2Ch. Dig. Output 24V, 4A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2042 2K. Dig. Ausgang 24V, 4A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2042]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2042]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>120</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08243052" RevisionNo="#x00100000">EL2084</Type>
-				<Name LcId="1033"><![CDATA[EL2084 4Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL2084 4K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2084]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2084]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08283052" RevisionNo="#x00100000">EL2088</Type>
-				<Name LcId="1033"><![CDATA[EL2088 8Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL2088 8K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2088]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2088]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1605</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x7050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1606</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x7060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1607</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x084c3052" RevisionNo="#x00100000">EL2124</Type>
-				<Name LcId="1033"><![CDATA[EL2124 4Ch. Dig. Output 5V, 20mA]]></Name>
-				<Name LcId="1031"><![CDATA[EL2124 4K. Dig. Ausgang 5V, 20mA]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2124]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2124]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
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-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x089A3052" RevisionNo="#x00000000">EL2202</Type>
-				<Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
-				<Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcOff</Name>
-						<Desc>DC unused</Desc>
-						<AssignActivate>#x0000</AssignActivate>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>DC Sync Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0201</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x089A3052" RevisionNo="#x00100000">EL2202</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL2202-0000-0000"/>
-				<AlternativeType RevisionNo="#x00100064"/>
-				<Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000FFFF</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x089A3052" RevisionNo="#x00100064">EL2202-0100</Type>
-				<AlternativeType RevisionNo="#x00100000"/>
-				<Name LcId="1033"><![CDATA[EL2202-0100 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
-				<Name LcId="1031"><![CDATA[EL2202-0100 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>DC Sync Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04018000000AFFFF</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08CC3052" RevisionNo="#x00000000">EL2252</Type>
-				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
-				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
-				<Fmmu Sm="2" Su="2">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
-				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
-					<Index>#x1610</Index>
-					<Name>DC Sync Activate</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x81</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Activate</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Virtual="true">
-					<Index>#x1611</Index>
-					<Name>DC Sync Start</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>StartTime</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcTimeStamp</Name>
-						<Desc>DC Time Stamp Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04018000e8030100</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08CC3052" RevisionNo="#x00100000">EL2252</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL2252-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
-				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
-				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
-				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
-					<Index>#x1610</Index>
-					<Name>DC Sync Activate</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x81</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Activate</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
-					<Index>#x1611</Index>
-					<Name>DC Sync Start</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>StartTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>16</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x3001</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Su="0" Virtual="true">
-					<Index>#x1a00</Index>
-					<Name>SysTime</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x10</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>SysTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcTimeStamp</Name>
-						<Desc>DC Time Stamp Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04018000e8030100</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08CC3052" RevisionNo="#x00110000">EL2252</Type>
-				<HideType RevisionNo="#x00100000" ProductRevision="EL2252-0000-0016"/>
-				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
-				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
-				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
-				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
-					<Index>#x1602</Index>
-					<Name>DC Sync Activate</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x81</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Activate</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
-					<Index>#x1603</Index>
-					<Name>DC Sync Start</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>StartTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1602</Index>
-					<Name>Reserved</Name>
-				</RxPdo>
-				<TxPdo Fixed="1" Su="0" Virtual="true">
-					<Index>#x1a00</Index>
-					<Name>SysTime</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x10</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>SysTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcTimeStamp</Name>
-						<Desc>DC Time Stamp Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04018000e803FFFF</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08CC3052" RevisionNo="#x00120000">EL2252</Type>
-				<HideType RevisionNo="#x00110000" ProductRevision="EL2252-0000-0011"/>
-				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
-				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
-				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
-				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
-				<Sm StartAddress="#x1000" Virtual="true">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
-					<Index>#x1602</Index>
-					<Name>DC Sync Activate</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x81</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Activate</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
-					<Index>#x1603</Index>
-					<Name>DC Sync Start</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x90</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>StartTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TriState</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
-					<Index>#x1604</Index>
-					<Name>Reserved</Name>
-				</RxPdo>
-				<TxPdo Fixed="1" Su="0" Virtual="true">
-					<Index>#x1a00</Index>
-					<Name>SysTime</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x10</SubIndex>
-						<BitLen>64</BitLen>
-						<Name>SysTime</Name>
-						<DataType>ULINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Su="1" Virtual="true">
-					<Index>#x1a01</Index>
-					<Name>Feedback</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x11</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Feedback</Name>
-						<Comment>Bit 0: Output 1
-Bit 1: Tristate 1
-Bit 2: Output 2
-Bit 3: Tristate 2</Comment>
-						<DataType>USINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcTimeStamp</Name>
-						<Desc>DC Time Stamp Settings</Desc>
-						<AssignActivate>#x0300</AssignActivate>
-						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>04018000e803FFFF</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08D63052" RevisionNo="#x00000000">EL2262</Type>
-				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
-				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<RxPdo Fixed="1" Sm="0">
-					<Index>#x1680</Index>
-					<Name>Cycle Counter</Name>
-					<Entry>
-						<Index>#x7800</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Cycle Counter</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
-					<Index>#x1600</Index>
-					<Name>Sample</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Output</Name>
-						<DataType>BYTE</DataType>
-					</Entry>
-				</RxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>No oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="2">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync3</Name>
-						<Desc>3 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="3">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync4</Name>
-						<Desc>4 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="4">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync5</Name>
-						<Desc>5 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="5">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync8</Name>
-						<Desc>8 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="8">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync10</Name>
-						<Desc>10 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="10">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync16</Name>
-						<Desc>16 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="16">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync20</Name>
-						<Desc>20 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="20">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync25</Name>
-						<Desc>25 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="25">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync50</Name>
-						<Desc>50 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="50">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync100</Name>
-						<Desc>100 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1680</Pdo>
-							<Pdo OSFac="100">#x1600</Pdo>
-						</Sm>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0601000010000100</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08D63052" RevisionNo="#x00010000">EL2262</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL2262-0000-0000"/>
-				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
-				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu OpOnly="true" Sm="1" Su="1">Outputs</Fmmu>
-				<Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x1200" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su/>
-				<Su/>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1700</Index>
-					<Name>CycCount0</Name>
-					<Entry>
-						<Index>#x7800</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Cycle Counter</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
-					<Index>#x1600</Index>
-					<Name>Sample0</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output0</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1710</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1711</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1712</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1713</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1714</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1715</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1716</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>7</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1701</Index>
-					<Name>CycCount1</Name>
-					<Entry>
-						<Index>#x7800</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Cycle Counter</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
-					<Index>#x1680</Index>
-					<Name>Sample1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output1</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1718</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1719</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171a</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171b</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171c</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171d</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171e</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>7</BitLen>
-					</Entry>
-				</RxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>No oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-							<Pdo>#x1716</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="1">#x1680</Pdo>
-							<Pdo>#x171e</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="2">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="2">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync3</Name>
-						<Desc>3 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="3">#x1600</Pdo>
-							<Pdo>#x1714</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="3">#x1680</Pdo>
-							<Pdo>#x171c</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync4</Name>
-						<Desc>4 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="4">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="4">#x1680</Pdo>
-							<Pdo>#x171b</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync5</Name>
-						<Desc>5 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="5">#x1600</Pdo>
-							<Pdo>#x1712</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="5">#x1680</Pdo>
-							<Pdo>#x171a</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync8</Name>
-						<Desc>8 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="8">#x1600</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="8">#x1680</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync10</Name>
-						<Desc>10 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="10">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="10">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync16</Name>
-						<Desc>16 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="16">#x1600</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="16">#x1680</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync20</Name>
-						<Desc>20 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="20">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="20">#x1680</Pdo>
-							<Pdo>#x171b</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync25</Name>
-						<Desc>25 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="25">#x1600</Pdo>
-							<Pdo>#x1716</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="25">#x1680</Pdo>
-							<Pdo>#x171e</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync40</Name>
-						<Desc>40 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="40">#x1600</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="40">#x1680</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync50</Name>
-						<Desc>50 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="50">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="50">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync100_1</Name>
-						<Desc>100 times oversampling (1Ch)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="100">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0601000010000100</ConfigData>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x08D63052" RevisionNo="#x00020000" TcSmClass="EL226X">EL2262</Type>
-				<HideType RevisionNo="#x00010000" ProductRevision="EL2262-0001-0000"/>
-				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 1µs, DC Oversample]]></Name>
-				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 1µs, DC Oversample]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>070</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
-				<Fmmu OpOnly="true" Sm="1" Su="1">Outputs</Fmmu>
-				<Fmmu OpOnly="false" Sm="2" Su="0">Inputs</Fmmu>
-				<Sm StartAddress="#x1000" ControlByte="#x64" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x1200" ControlByte="#x64" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm StartAddress="#x0998" Virtual="true">Inputs</Sm>
-				<Su/>
-				<Su/>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1700</Index>
-					<Name>CycCount0</Name>
-					<Entry>
-						<Index>#x7800</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Cycle Counter0</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
-					<Index>#x1600</Index>
-					<Name>Sample0</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output0</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
-					<Index>#x1800</Index>
-					<Name>Sample0</Name>
-					<Entry>
-						<Index>#x7200</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Output0</Name>
-						<DataType>BYTE</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1710</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1711</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1712</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1713</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1714</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1715</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="0" Su="0">
-					<Index>#x1716</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>7</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1701</Index>
-					<Name>CycCount1</Name>
-					<Entry>
-						<Index>#x7800</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Cycle Counter1</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
-					<Index>#x1680</Index>
-					<Name>Sample1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output1</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
-					<Index>#x1880</Index>
-					<Name>Sample1</Name>
-					<Entry>
-						<Index>#x7200</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Output1</Name>
-						<DataType>BYTE</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1718</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x1719</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171a</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171b</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171c</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171d</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="1" Su="1">
-					<Index>#x171e</Index>
-					<Name>Gap</Name>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>7</BitLen>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="2" Virtual="true" Su="0">
-					<Index>#x1702</Index>
-					<Name>StartTimeNextOutput</Name>
-					<Entry>
-						<Index>#x1d09</Index>
-						<SubIndex>#x98</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>StartTimeNextOutput</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Dc>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>2 Channels - No oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-							<Pdo>#x1716</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="1">#x1680</Pdo>
-							<Pdo>#x171e</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 Ch. - 2 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="2">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="2">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync3</Name>
-						<Desc>2 Ch. - 3 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="3">#x1600</Pdo>
-							<Pdo>#x1714</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="3">#x1680</Pdo>
-							<Pdo>#x171c</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync4</Name>
-						<Desc>2 Ch. - 4 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="4">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="4">#x1680</Pdo>
-							<Pdo>#x171b</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync5</Name>
-						<Desc>2 Ch. - 5 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="5">#x1600</Pdo>
-							<Pdo>#x1712</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="5">#x1680</Pdo>
-							<Pdo>#x171a</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync8</Name>
-						<Desc>2 Ch. - 8 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="8">#x1600</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="8">#x1680</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync10</Name>
-						<Desc>2 Ch. - 10 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="10">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="10">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync16</Name>
-						<Desc>2 Ch. - 16 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="16">#x1600</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="16">#x1680</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync20</Name>
-						<Desc>2 Ch. - 20 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="20">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="20">#x1680</Pdo>
-							<Pdo>#x171b</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync40</Name>
-						<Desc>2 Ch. - 40 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="40">#x1600</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="40">#x1680</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync50</Name>
-						<Desc>2 Ch. - 50 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="50">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="50">#x1680</Pdo>
-							<Pdo>#x171d</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync100</Name>
-						<Desc>2 Ch. - 100 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="100">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="100">#x1680</Pdo>
-							<Pdo>#x171b</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync200</Name>
-						<Desc>2 Ch. - 200 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="25">#x1800</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="25">#x1880</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync400</Name>
-						<Desc>2 Ch. - 400 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="50">#x1800</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="50">#x1880</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync1000</Name>
-						<Desc>2 Ch. - 1000 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="125">#x1800</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="125">#x1880</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync_1</Name>
-						<Desc>Channel 1 - No oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-							<Pdo>#x1716</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2_1</Name>
-						<Desc>1 Ch. - 2 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="2">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync3_1</Name>
-						<Desc>1 Ch. - 3 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="3">#x1600</Pdo>
-							<Pdo>#x1714</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync4_1</Name>
-						<Desc>1 Ch. - 4 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="4">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync5_1</Name>
-						<Desc>1 Ch. - 5 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="5">#x1600</Pdo>
-							<Pdo>#x1712</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync8_1</Name>
-						<Desc>1 Ch. - 8 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="8">#x1600</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync10_1</Name>
-						<Desc>1 Ch. - 10 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="10">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync16_1</Name>
-						<Desc>1 Ch. - 16 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="16">#x1600</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync20_1</Name>
-						<Desc>1 Ch. - 20 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="20">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync40_1</Name>
-						<Desc>1 Ch. - 40 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="40">#x1600</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync50_1</Name>
-						<Desc>1 Ch. - 50 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="50">#x1600</Pdo>
-							<Pdo>#x1715</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync100_1</Name>
-						<Desc>1 Ch. - 100 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="100">#x1600</Pdo>
-							<Pdo>#x1713</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync200_1</Name>
-						<Desc>1 Ch. - 200 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="25">#x1800</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync400_1</Name>
-						<Desc>1 Ch. - 400 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="50">#x1800</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync1000_1</Name>
-						<Desc>1 Ch. - 1000 times oversampling</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="125">#x1800</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1702</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT IgnoreFromBuildNo="1506"/>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync</Name>
-						<Desc>2 Channels (Bits)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-							<Pdo>#x1710</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b02</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="1">#x1680</Pdo>
-							<Pdo>#x1718</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2</Name>
-						<Desc>2 Channels (Bytes)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1800</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b02</Pdo>
-						</Sm>
-						<Sm No="1">
-							<Pdo>#x1701</Pdo>
-							<Pdo OSFac="1">#x1880</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync_1</Name>
-						<Desc>1 Channel (Bits)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1600</Pdo>
-							<Pdo>#x1710</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b02</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-					<OpMode>
-						<Name>DcSync2_1</Name>
-						<Desc>1 Channel (Bytes)</Desc>
-						<AssignActivate>#x0730</AssignActivate>
-						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-						<Sm No="0">
-							<Pdo>#x1700</Pdo>
-							<Pdo OSFac="1">#x1800</Pdo>
-						</Sm>
-						<Sm No="2">
-							<Pdo>#x1b02</Pdo>
-						</Sm>
-						<VendorSpecific>
-							<TwinCAT UseFromBuildNo="1506">
-								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
-							</TwinCAT>
-						</VendorSpecific>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0605000010000100</ConfigData>
-					<Category>
-						<CatNo>1</CatNo>
-						<Data>D60806020602</Data>
-					</Category>
-				</Eeprom>
-				<VendorSpecific>
-					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
-				</VendorSpecific>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09c63052" RevisionNo="#x100000">EL2502</Type>
-				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
-				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BIT3</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN03</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>3</BitSize>
-								<EnumInfo>
-									<Text>Signed Presentation</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Unsigned resentation</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value with MSB</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default Watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last value</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>PWM</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Frequency</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>120</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable user scale</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Presentation</Name>
-									<Type>DT0800EN03</Type>
-									<BitSize>3</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Operation mode</Name>
-									<Type>DT0802EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Default output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>72</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>88</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Period PWM [µs]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>104</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800E</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Timer resolution</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Duty cycle</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
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-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
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-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>8913fa00</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323530322d30303030</DefaultData>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230c609</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>00001000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1600</Index>
-								<Name>RxPDO-Map Ch.1</Name>
-								<Type>DT1600</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>10110070</DefaultData>
-										</Info>
-									</SubItem>
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-								<Flags>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1601</Index>
-								<Name>RxPDO-Map Ch.2</Name>
-								<Type>DT1600</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
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-										<Info>
-											<DefaultData>10111070</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1c00</Index>
-								<Name>Sync manager type</Name>
-								<Type>DT1C00</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 003</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 004</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#x1c12</Index>
-								<Name>RxPDO assign</Name>
-								<Type>DT1C12</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>0016</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>0116</DefaultData>
-										</Info>
-									</SubItem>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x1c32</Index>
-								<Name>SM output parameter</Name>
-								<Type>DT1C32</Type>
-								<BitSize>280</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>07</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sync mode</Name>
-										<Info>
-											<DefaultData>0100</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Cycle time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Shift time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sync modes supported</Name>
-										<Info>
-											<DefaultData>0780</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Minimum cycle time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Calc and copy time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Command</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Delay time</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SM event missed counter</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Cycle exceeded counter</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Shift too short counter</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sync error</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x7000</Index>
-								<Name>PWM Outputs Ch.1</Name>
-								<Type>DT7000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
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-										<Info>
-											<DefaultData>11</DefaultData>
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-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
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-								</Info>
-								<Flags>
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-							<Object>
-								<Index>#x7010</Index>
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-								<BitSize>32</BitSize>
-								<Info>
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-										<Info>
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-									<SubItem>
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-										</Info>
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-								</Info>
-								<Flags>
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-							<Object>
-								<Index>#x8000</Index>
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-								<Type>DT8000</Type>
-								<BitSize>120</BitSize>
-								<Info>
-									<SubItem>
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-										<Info>
-											<DefaultData>15</DefaultData>
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-									<SubItem>
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-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Presentation</Name>
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-										</Info>
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-									<SubItem>
-										<Name>Watchdog</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Offset</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Gain</Name>
-										<Info>
-											<DefaultData>00000100</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Default output</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Default output ramp</Name>
-										<Info>
-											<DefaultData>ffff</DefaultData>
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-									<SubItem>
-										<Name>Period PWM [µs]</Name>
-										<Info>
-											<DefaultData>a00f</DefaultData>
-										</Info>
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-							<Object>
-								<Index>#x800e</Index>
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-								<Info>
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-										<Info>
-											<DefaultData>02</DefaultData>
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-									<SubItem>
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-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Duty cycle</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
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-								<Flags>
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-							<Object>
-								<Index>#x8010</Index>
-								<Name>PWM Settings Ch.2</Name>
-								<Type>DT8000</Type>
-								<BitSize>120</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>15</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Enable user scale</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Presentation</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Watchdog</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Operation mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Offset</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Gain</Name>
-										<Info>
-											<DefaultData>00000100</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Default output</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Default output ramp</Name>
-										<Info>
-											<DefaultData>ffff</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Period PWM [µs]</Name>
-										<Info>
-											<DefaultData>a00f</DefaultData>
-										</Info>
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-								</Info>
-								<Flags>
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-							<Object>
-								<Index>#x801e</Index>
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-								<Type>DT800E</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
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-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Duty cycle</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#xf000</Index>
-								<Name>Modular device profile</Name>
-								<Type>DTF000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Module index distance</Name>
-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0200</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
-				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1" Watchdog="1">Outputs</Sm>
-				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>PWM Outputs Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2">
-					<Index>#x1601</Index>
-					<Name>PWM Outputs Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030800000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09c63052" RevisionNo="#x110000">EL2502</Type>
-				<HideType RevisionNo="#x00100000" ProductRevision="EL2502-0000-0016"/>
-				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
-				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>150</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BIT3</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN03</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>3</BitSize>
-								<EnumInfo>
-									<Text>Signed Presentation</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Unsigned resentation</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value with MSB</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default Watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last value</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>PWM</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Frequency</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>16</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>PWM period</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
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-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>120</BitSize>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable user scale</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Presentation</Name>
-									<Type>DT0800EN03</Type>
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-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Operation mode</Name>
-									<Type>DT0802EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Default output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>72</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>88</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Period PWM [µs]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>104</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800E</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Timer resolution</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Duty cycle</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
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-							<DataType>
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-									<SubIdx>0</SubIdx>
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-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF010ARR</Name>
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-								<BitSize>64</BitSize>
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-									<LBound>1</LBound>
-									<Elements>2</Elements>
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-							<DataType>
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-								<BitSize>80</BitSize>
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-									<SubIdx>0</SubIdx>
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-									<BitSize>8</BitSize>
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-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
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-								<SubItem>
-									<Name>Elements</Name>
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-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
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-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>8913fa00</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323530322d30303030</DefaultData>
-								</Info>
-								<Flags>
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-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230c609</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>00001100</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
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-								<Flags>
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-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
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-								<Info>
-									<SubItem>
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-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Checksum</Name>
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-											<DefaultData>00000000</DefaultData>
-										</Info>
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-								<Flags>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-ParCh.1</Name>
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-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
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-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0216</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x1401</Index>
-								<Name>RxPDO-ParCh.2</Name>
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-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0216</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>RxPDO-PaCh.1</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0016</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1403</Index>
-								<Name>RxPDO-PaCh.2</Name>
-								<Type>DT1400</Type>
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-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0016</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1600</Index>
-								<Name>RxPDO-Map Ch.1</Name>
-								<Type>DT1600</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-									<SubItem>
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-										<Info>
-											<DefaultData>10110070</DefaultData>
-										</Info>
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-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1601</Index>
-								<Name>RxPDO-Map Ch.2</Name>
-								<Type>DT1600</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
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-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>10111070</DefaultData>
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-							<Object>
-								<Index>#x1602</Index>
-								<Name>RxPDO-MapCh.1</Name>
-								<Type>DT1602</Type>
-								<BitSize>80</BitSize>
-								<Info>
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-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
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-										<Info>
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-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>10120070</DefaultData>
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-							<Object>
-								<Index>#x1603</Index>
-								<Name>RxPDO-MapCh.2</Name>
-								<Type>DT1602</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
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-							<Object>
-								<Index>#x1c00</Index>
-								<Name>Sync manager type</Name>
-								<Type>DT1C00</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
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-											<DefaultData>01</DefaultData>
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-									<SubItem>
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-											<DefaultData>02</DefaultData>
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-										<Name>SubIndex 003</Name>
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-											<DefaultData>03</DefaultData>
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-											<DefaultData>04</DefaultData>
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-								<Flags>
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-							<Object>
-								<Index>#x1c12</Index>
-								<Name>RxPDO assign</Name>
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-								<Info>
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-											<DefaultData>0116</DefaultData>
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-							<Object>
-								<Index>#x1c13</Index>
-								<Name>TxPDO assign</Name>
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-								<Info>
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-								<Flags>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1c32</Index>
-								<Name>SM output parameter</Name>
-								<Type>DT1C32</Type>
-								<BitSize>280</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
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-											<DefaultData>20</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Sync mode</Name>
-										<Info>
-											<DefaultData>0100</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Cycle time</Name>
-										<Info>
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-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>16</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>PWM period</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>120</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable user scale</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Presentation</Name>
-									<Type>DT0800EN03</Type>
-									<BitSize>3</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Operation mode</Name>
-									<Type>DT0802EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Default output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>72</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>88</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Period PWM [µs]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>104</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800E</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Timer resolution</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Duty cycle</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>8913fa00</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323530322d30303030</DefaultData>
-								</Info>
-								<Flags>
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-							<Object>
-								<Index>#x801e</Index>
-								<Name>PWM Internal data Ch.2</Name>
-								<Type>DT800E</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Timer resolution</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Duty cycle</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-								<Index>#xf000</Index>
-								<Name>Modular device profile</Name>
-								<Type>DTF000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Module index distance</Name>
-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0200</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-								<Index>#xf008</Index>
-								<Name>Code word</Name>
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-								<Info>
-									<DefaultData>00000000</DefaultData>
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-								<Flags>
-									<Access>rw</Access>
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-								<Index>#xf010</Index>
-								<Name>Module list</Name>
-								<Type>DTF010</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
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-										<Name>SubIndex 001</Name>
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-											<DefaultData>fa000000</DefaultData>
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-										<Name>SubIndex 002</Name>
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-											<DefaultData>fa000000</DefaultData>
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-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
-				<Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
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-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>PWM Outputs Channel 1</Name>
-					<Exclude>#x1602</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
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-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
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-				<RxPdo Fixed="1">
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-					<Name>PWM Outputs Channel 1</Name>
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-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM period</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1601</Index>
-					<Name>PWM Outputs Channel 2</Name>
-					<Exclude>#x1603</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1603</Index>
-					<Name>PWM Outputs Channel 2</Name>
-					<Exclude>#x1601</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM period</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE PdoAssign="1" SdoInfo="1"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030400000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9c63052" RevisionNo="#x00130000">EL2502</Type>
-				<HideType RevisionNo="#x00110000"/>
-				<HideType RevisionNo="#x00120000"/>
-				<Name LcId="1033">EL2502 2Ch. PWM output, 24V</Name>
-				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>150</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BIT3</Name>
-								<BitSize>3</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN03</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>3</BitSize>
-								<EnumInfo>
-									<Text>Signed Presentation</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Unsigned resentation</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value with MSB</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default Watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last value</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
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-							<DataType>
-								<Name>DT0802EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>PWM 20Hz...20kHz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Reserved.</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>PWM 100ns frq. res.</Text>
-									<Enum>2</Enum>
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-								<EnumInfo>
-									<Text>PWM 1Hz...20kHz</Text>
-									<Enum>3</Enum>
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-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
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-								<BitSize>48</BitSize>
-								<SubItem>
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-									<Name>SubIndex 000</Name>
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-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
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-							<DataType>
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-								<BitSize>144</BitSize>
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-									<Name>SubIndex 000</Name>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
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-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
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-										<Access>ro</Access>
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-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-									<SubIdx>4</SubIdx>
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-									<Type>UDINT</Type>
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-									<BitOffs>112</BitOffs>
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-									<Name>SubIndex 000</Name>
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-										<Category>o</Category>
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-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
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-									<Name>Exclude RxPDOs</Name>
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-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
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-										<Category>o</Category>
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-										<Access>ro</Access>
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-									<BitSize>8</BitSize>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
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-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>0</BitSize>
-								<ArrayInfo>
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-									<Elements>0</Elements>
-								</ArrayInfo>
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-							<DataType>
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-								<BitSize>16</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>0</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>PWM period</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>160</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable user scale</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Presentation</Name>
-									<Type>DT0800EN03</Type>
-									<BitSize>3</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Operation mode</Name>
-									<Type>DT0802EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Default output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Period PWM 20Hz..20kHz[µs]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Period PWM 1Hz..20kHz [µs]</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800E</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Timer resolution</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Duty cycle</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
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-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
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-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>8913fa00</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323530322d30303030</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230c609</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>00001300</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>PWM RxPDO-Par Ch.1</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0216</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PWM RxPDO-Par Ch.2</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0316</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>PWM RxPDO-Par h.1 Ch.1</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0016</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1403</Index>
-								<Name>PWM RxPDO-Par h.1 Ch.2</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0116</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1600</Index>
-								<Name>PWM RxPDO-Map Ch.1</Name>
-								<Type>DT1600</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
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-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>10110070</DefaultData>
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-					</Entry>
-				</RxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030000000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9c63052" RevisionNo="#x00140000">EL2502</Type>
-				<HideType RevisionNo="#x00110000"/>
-				<HideType RevisionNo="#x00120000"/>
-				<HideType RevisionNo="#x00130000"/>
-				<Name LcId="1033">EL2502 2Ch. PWM output, 24V</Name>
-				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>150</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping Default="1">
-								<Name>Pulswith (standard)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Pulswith and frequency (16 bit)</Name>
-								<Sm No="2">
-									<Pdo>#x1602</Pdo>
-									<Pdo>#x1603</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BIT3</Name>
-								<BitSize>3</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN03</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>3</BitSize>
-								<EnumInfo>
-									<Text>Signed Presentation</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Unsigned Presentation</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value with MSB</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Absolute value</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default Watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last value</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>PWM 20Hz...20kHz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Reserved.</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>PWM 100ns frq. res.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>PWM 1Hz...20kHz</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>0</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>0</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>16</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>0</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>PWM period</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
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-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>160</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable user scale</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Presentation</Name>
-									<Type>DT0800EN03</Type>
-									<BitSize>3</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Operation mode</Name>
-									<Type>DT0802EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Default output</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Period PWM 20Hz..20kHz[µs]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Period PWM 1Hz..20kHz [µs]</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800E</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Timer resolution</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Duty cycle</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>64</BitSize>
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-									<LBound>1</LBound>
-									<Elements>2</Elements>
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-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-									<BitSize>8</BitSize>
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-										<Category>o</Category>
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-								<SubItem>
-									<Name>Elements</Name>
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-									<BitOffs>16</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>8913fa00</DefaultData>
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-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
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-									<DefaultData>454c323530322d30303030</DefaultData>
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-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
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-								<Flags>
-									<Access>ro</Access>
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-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230c609</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>00001300</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
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-									<SubItem>
-										<Name>Checksum</Name>
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-											<DefaultData>00000000</DefaultData>
-										</Info>
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-								<Flags>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1400</Index>
-								<Name>PWM RxPDO-Par Ch.1</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0216</DefaultData>
-										</Info>
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-								</Info>
-								<Flags>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1401</Index>
-								<Name>PWM RxPDO-Par Ch.2</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
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-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0316</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
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-									<Category>o</Category>
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-							<Object>
-								<Index>#x1402</Index>
-								<Name>PWM RxPDO-Par h.1 Ch.1</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0016</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x1403</Index>
-								<Name>PWM RxPDO-Par h.1 Ch.2</Name>
-								<Type>DT1400</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
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-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>0116</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
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-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1600</Index>
-								<Name>PWM RxPDO-Map Ch.1</Name>
-								<Type>DT1600</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
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-							<Object>
-								<Index>#x1601</Index>
-								<Name>PWM RxPDO-Map Ch.2</Name>
-								<Type>DT1600</Type>
-								<BitSize>48</BitSize>
-								<Info>
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-											<DefaultData>01</DefaultData>
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-								<Name>PWM RxPDO-Map h.1 Ch.1</Name>
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-								<BitSize>80</BitSize>
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-											<DefaultData>02</DefaultData>
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-								<Name>PWM RxPDO-Map h.1 Ch.2</Name>
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-											<DefaultData>02</DefaultData>
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-								<Name>Sync manager type</Name>
-								<Type>DT1C00</Type>
-								<BitSize>48</BitSize>
-								<Info>
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-										<Name>SubIndex 000</Name>
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-											<DefaultData>04</DefaultData>
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-											<DefaultData>01</DefaultData>
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-							<Object>
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-								<Name>TxPDO assign</Name>
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-			<Device Physics="KK">
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-				<Name LcId="1033"><![CDATA[EL2521 1Ch. Pulse Train Output]]></Name>
-				<Name LcId="1031"><![CDATA[EL2521 1K. Pulse Train Ausgang]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
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-								<BitSize>1</BitSize>
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-							<DataType>
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-								<BitSize>8</BitSize>
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-							<DataType>
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-								<BitSize>32</BitSize>
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-							<DataType>
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-								<BitSize>88</BitSize>
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-							<DataType>
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-								<BitSize>128</BitSize>
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-							<DataType>
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-								<BitSize>16</BitSize>
-								<EnumInfo>
-									<Text>Free Run</Text>
-									<Enum>0</Enum>
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-								<EnumInfo>
-									<Text>Synchron</Text>
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-								<EnumInfo>
-									<Text>1 kHz</Text>
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-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
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-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
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-								<EnumInfo>
-									<Text>Incremental enc.</Text>
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-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
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-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision Number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial Number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>RxPDO Mapping Element 1: Ctrl</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>RxPDO Mapping Element 2: Data Out</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>TxPDO Mapping Element 1: Status</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>TxPDO Mapping Element 2: Data In</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<MinValue>0</MinValue>
-									<MaxValue>1</MaxValue>
-									<DefaultValue>1</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Assigned RxPDO</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<MinValue>#x1600</MinValue>
-									<MaxValue>#x1600</MaxValue>
-									<DefaultValue>#x1600</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<MinValue>0</MinValue>
-									<MaxValue>1</MaxValue>
-									<DefaultValue>1</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Assigned TxPDO</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<MinValue>#x1600</MinValue>
-									<MaxValue>#x1600</MaxValue>
-									<DefaultValue>#x1600</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>0</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<MinValue>#x64</MinValue>
-									<MaxValue>#x0007a120</MaxValue>
-									<DefaultValue>50000</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<MinValue>#x64</MinValue>
-									<MaxValue>#x0007a120</MaxValue>
-									<DefaultValue>100000</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<MinValue>#x01</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>100</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#x7fff</MaxValue>
-									<DefaultValue>50</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffffffff</MaxValue>
-									<DefaultValue>0</DefaultValue>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#x7fff</MaxValue>
-									<DefaultValue>0</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF000ARR</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device Type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device Name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30303030</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware Version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software Version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Load Default Settings</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>010000000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<DefaultData>0400020000005230d9090000000000000000</DefaultData>
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-									<Access>ro</Access>
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-							<Object>
-								<Index>#x1600</Index>
-								<Name>Outputs</Name>
-								<Type>DT1600</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<DefaultData>02001001007010020070</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1a00</Index>
-								<Name>Inputs</Name>
-								<Type>DT1A00</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<DefaultData>02001001006010020060</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1c00</Index>
-								<Name>Sync Manager Type</Name>
-								<Type>DT1C00</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>040001020304</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1c01</Index>
-								<Name>Process Data Format</Name>
-								<Type>UINT</Type>
-								<BitSize>16</BitSize>
-								<Info>
-									<DefaultData>0001</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1c12</Index>
-								<Name>SM 002 RxPDO Assign</Name>
-								<Type>DT1C12</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>01000016</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1c13</Index>
-								<Name>SM 003 TxPDO Assign</Name>
-								<Type>DT1C13</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>01000016</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
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-							<Object>
-								<Index>#x6000</Index>
-								<Name>Inputs</Name>
-								<Type>DT6000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>020000000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
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-							<Object>
-								<Index>#x7000</Index>
-								<Name>Outputs</Name>
-								<Type>DT7000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>020000000000</DefaultData>
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-									<Access>ro</Access>
-								</Flags>
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-							<Object>
-								<Index>#x8000</Index>
-								<Name>Feature bits</Name>
-								<Type>DT8000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>0f003000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8001</Index>
-								<Name>User settings</Name>
-								<Type>DT8001</Type>
-								<BitSize>176</BitSize>
-								<Info>
-									<DefaultData>0800000050c30000a0860100e803e80364003200e803</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
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-							<Object>
-								<Index>#x8800</Index>
-								<Name>Volatile Settings</Name>
-								<Type>DT8800</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<DefaultData>0200000000000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xa000</Index>
-								<Name>Diagnostic Parameter</Name>
-								<Type>DTA000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>01000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf000</Index>
-								<Name>Profile Settings</Name>
-								<Type>DTF000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>02001001</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code Word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>Outputs</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox>
-					<CoE SdoInfo="1" PdoAssign="0" PdoConfig="0"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003080000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F80000">EL2521</Type>
-				<HideType RevisionNo="#x00000000" ProductRevision="EL2521-0000-0000"/>
-				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1604</Pdo>
-									<Pdo>#x1602</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1607</Pdo>
-									<Pdo>#x1605</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
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-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
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-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
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-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
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-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
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-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
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-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
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-							<DataType>
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-								<SubItem>
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-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							<DataType>
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-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
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-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c32353231</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>0000f803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
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-								</Flags>
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-							<Object>
-								<Index>#x1405</Index>
-								<Name>ENC RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1407</Index>
-								<Name>PTO RxPDO-Par Target</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1600</Index>
-								<Name>RxPDO-Map</Name>
-								<Type>DT1600</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
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-							<Object>
-								<Index>#x1601</Index>
-								<Name>PTO RxPDO-Map Control</Name>
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-										<Name>SubIndex 000</Name>
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-								<Index>#x1602</Index>
-								<Name>ENC RxPDO-Map Control compact</Name>
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-								<Name>PTO RxPDO-Map Target compact</Name>
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-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1601</Index>
-					<Name>PTO Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Frequency select</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Disable ramp</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1604</Index>
-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F90000">EL2521</Type>
-				<HideType RevisionNo="#x3F80000"/>
-				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1604</Pdo>
-									<Pdo>#x1602</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1607</Pdo>
-									<Pdo>#x1605</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c32353231</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>0000f803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
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-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (emergency)</Name>
-										<Info>
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-								<Index>#x8800</Index>
-								<Name>Volatile settings</Name>
-								<Type>DT8800</Type>
-								<BitSize>64</BitSize>
-								<Info>
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-										<Name>SubIndex 000</Name>
-										<Info>
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-										</Info>
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-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum frequency</Name>
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-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>0</DefaultValue>
-										</Info>
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-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#xa000</Index>
-								<Name>Diagnostic parameter</Name>
-								<Type>DTA000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-										<Name>Counter extension</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
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-								</Info>
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-							<Object>
-								<Index>#xf000</Index>
-								<Name>Modular device profile</Name>
-								<Type>DTF000</Type>
-								<BitSize>48</BitSize>
-								<Info>
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-										<Name>SubIndex 000</Name>
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-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0300</DefaultData>
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-								<Flags>
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-									<Category>o</Category>
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-							<Object>
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-								<Name>Code word</Name>
-								<Type>UDINT</Type>
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-								<Info>
-									<DefaultData>00000000</DefaultData>
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-								<Index>#xf010</Index>
-								<Name>Module list</Name>
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-								<BitSize>112</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
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-				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
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-					<Entry>
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-						<BitLen>16</BitLen>
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-						<DataType>UINT</DataType>
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-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
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-						<SubIndex>18</SubIndex>
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-					<Exclude>#x1602</Exclude>
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-					<Name>ENC Control compact</Name>
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-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
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-						<Index>#x0</Index>
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-						<DataType>BOOL</DataType>
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-					<Exclude>#x1a00</Exclude>
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-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
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-					<FoE/>
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-				<Type ProductCode="#x09d93052" RevisionNo="#x03FA0000">EL2521</Type>
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-				<HideType RevisionNo="#x03F80000"/>
-				<HideType RevisionNo="#x03F90000"/>
-				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
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-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
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-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
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-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
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-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
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-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1604</Pdo>
-									<Pdo>#x1602</Pdo>
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-									<Pdo>#x1a02</Pdo>
-								</Sm>
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-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
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-									<Pdo>#x1607</Pdo>
-									<Pdo>#x1605</Pdo>
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-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
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-						<Index>#x0</Index>
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-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9d93052" RevisionNo="#x03fb0000">EL2521</Type>
-				<HideType RevisionNo="#x0"/>
-				<HideType RevisionNo="#x3f80000"/>
-				<HideType RevisionNo="#x3f90000"/>
-				<HideType RevisionNo="#x3fa0000"/>
-				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1602</Pdo>
-									<Pdo>#x1604</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1605</Pdo>
-									<Pdo>#x1607</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
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-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
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-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
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-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
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-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
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-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
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-									<BitOffs>176</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
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-							<DataType>
-								<Name>DT8800</Name>
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-									<SubIdx>0</SubIdx>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-									<Name>Target counter state</Name>
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-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
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-									<BitOffs>48</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-									<SubIdx>0</SubIdx>
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-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
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-									<BitOffs>16</BitOffs>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
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-									<BitOffs>16</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-									<Name>Maximum number of modules</Name>
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-									<BitOffs>32</BitOffs>
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-										<Access>ro</Access>
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-								<Name>DTF010ARR</Name>
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-									<Elements>3</Elements>
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-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
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-								<Info>
-									<DefaultData>89130000</DefaultData>
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-									<DefaultData>454c32353231</DefaultData>
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-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
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-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
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-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
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-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
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-											<DefaultData>01</DefaultData>
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-											<DefaultData>00000000</DefaultData>
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-								<BitSize>144</BitSize>
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-											<DefaultData>04</DefaultData>
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-										<Info>
-											<DefaultData>02000000</DefaultData>
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-											<DefaultData>0000fb03</DefaultData>
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-										<Name>Serial number</Name>
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-										<Info>
-											<DefaultData>01</DefaultData>
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-											<DefaultData>00000000</DefaultData>
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-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
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-								<BitSize>96</BitSize>
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-										<Info>
-											<DefaultData>06</DefaultData>
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-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
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-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
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-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
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-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
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-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
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-										<Info>
-											<DefaultData>06</DefaultData>
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-										<Name>Exclude RxPDOs</Name>
-										<Info>
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-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
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-								<Name>ENC RxPDO-Par Control</Name>
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-								<Index>#x1407</Index>
-								<Name>PTO RxPDO-Par Target</Name>
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-									<SubItem>
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-								<Name>User settings</Name>
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-											<MinValue>#x64</MinValue>
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-											<DefaultValue>#x186a0</DefaultValue>
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-											<DefaultData>e803</DefaultData>
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-											<DefaultData>e803</DefaultData>
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-											<MinValue>#x1</MinValue>
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-								<Info>
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-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-						<Name>Control__Gap</Name>
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-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-						<Name>Control__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-						<Name>Control__Gap</Name>
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-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
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-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-						<Name>Control__Gap</Name>
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-					<Entry>
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-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Set counter</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
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-					<Entry>
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-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
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-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
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-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
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-						<Index>#x6010</Index>
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-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
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-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
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-					<Entry>
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-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
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-					<Entry>
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-						<BitLen>1</BitLen>
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-					<Entry>
-						<Index>#x0</Index>
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-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
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-					<Index>#x1a02</Index>
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-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
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-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
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-						<Name>Status__Set counter done</Name>
-						<DataType>BOOL</DataType>
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-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
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-					<Entry>
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-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
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-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
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-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
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-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter overflow</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F80018">EL2521-0024</Type>
-				<Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
-				<Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
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-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
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-									<BitSize>32</BitSize>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								</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>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
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-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
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-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
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-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30303234</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>1800f803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1405</Index>
-								<Name>ENC RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1407</Index>
-								<Name>PTO RxPDO-Par Target</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1600</Index>
-								<Name>RxPDO-Map</Name>
-								<Type>DT1600</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>10010070</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>10020070</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
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-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Module index distance</Name>
-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0300</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf010</Index>
-								<Name>Module list</Name>
-								<Type>DTF010</Type>
-								<BitSize>112</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>fc000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>fd000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 003</Name>
-										<Info>
-											<DefaultData>ff010000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>Outputs</Name>
-					<Exclude>#x1601</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1601</Index>
-					<Name>PTO Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Frequency select</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Disable ramp</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1604</Index>
-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F90018">EL2521-0024</Type>
-				<HideType RevisionNo="#x3F80018"/>
-				<Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
-				<Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30303234</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>1800f803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
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-									<SubItem>
-										<Name>Travel distance control active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Operating mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Negative logic</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Users switch-on-value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 1</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>50000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 2</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>100000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (rising)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (falling)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Frequency factor (Digit x 10mHz)</Name>
-										<Info>
-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
-											<DefaultValue>100</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Slowing down frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (emergency)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8800</Index>
-								<Name>Volatile settings</Name>
-								<Type>DT8800</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Target counter state</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>0</DefaultValue>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xa000</Index>
-								<Name>Diagnostic parameter</Name>
-								<Type>DTA000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Counter extension</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf000</Index>
-								<Name>Modular device profile</Name>
-								<Type>DTF000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Module index distance</Name>
-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0300</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf010</Index>
-								<Name>Module list</Name>
-								<Type>DTF010</Type>
-								<BitSize>112</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>fc000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>fd000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 003</Name>
-										<Info>
-											<DefaultData>ff010000</DefaultData>
-										</Info>
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-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-						</Objects>
-					</Dictionary>
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-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
-				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
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-					<Index>#x1600</Index>
-					<Name>Outputs</Name>
-					<Exclude>#x1601</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Exclude>#x1602</Exclude>
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-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
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-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
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-				<RxPdo Fixed="1">
-					<Index>#x1601</Index>
-					<Name>PTO Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Frequency select</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Disable ramp</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1604</Index>
-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
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-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
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-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
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-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
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-						<Index>#x6010</Index>
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-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
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-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
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-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
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-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
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-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9d93052" RevisionNo="#x03fa0018">EL2521-0024</Type>
-				<HideType RevisionNo="#x3f80018"/>
-				<HideType RevisionNo="#x3f90018"/>
-				<Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
-				<Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1602</Pdo>
-									<Pdo>#x1604</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1605</Pdo>
-									<Pdo>#x1607</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
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-											<DefaultData>e803</DefaultData>
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-											<DefaultValue>#x32</DefaultValue>
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-										<Info>
-											<DefaultData>e803</DefaultData>
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-								<Name>Code word</Name>
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-								<Info>
-									<DefaultData>00000000</DefaultData>
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-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-						<Name>Status__</Name>
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-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Set counter done</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F80019">EL2521-0025</Type>
-				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
-				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
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-									<BitOffs>112</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
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-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
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-									<BitOffs>128</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
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-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
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-									<BitOffs>144</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
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-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
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-									<BitOffs>160</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
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-									<BitOffs>176</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-										<Setting>1</Setting>
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-							<DataType>
-								<Name>DT8800</Name>
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-									<SubIdx>0</SubIdx>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-									<Name>Target counter state</Name>
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-										<Access>rw</Access>
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-								<SubItem>
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-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
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-										<Access>rw</Access>
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-							<DataType>
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-									<SubIdx>0</SubIdx>
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-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
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-									<BitOffs>16</BitOffs>
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-								<SubItem>
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-									<Name>Module index distance</Name>
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-										<Access>ro</Access>
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-									<Name>Maximum number of modules</Name>
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-								<Name>DTF010ARR</Name>
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-								<Name>Device type</Name>
-								<Type>UDINT</Type>
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-								<Info>
-									<DefaultData>89130000</DefaultData>
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-									<DefaultData>454c323532312d30303235</DefaultData>
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-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
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-								<Index>#x100a</Index>
-								<Name>Software version</Name>
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-											<DefaultData>04</DefaultData>
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-											<DefaultData>02000000</DefaultData>
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-											<DefaultData>5230d909</DefaultData>
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-											<DefaultData>1900f803</DefaultData>
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-										<Name>Serial number</Name>
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-											<DefaultData>00000000</DefaultData>
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-											<DefaultData>00000000</DefaultData>
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-								<Name>RxPDO-Par</Name>
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-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
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-										<Info>
-											<DefaultData>06</DefaultData>
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-										<Name>Exclude RxPDOs</Name>
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-											<DefaultData>00160000000000000000</DefaultData>
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-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
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-											<DefaultData>06</DefaultData>
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-										<Name>Exclude RxPDOs</Name>
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-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
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-										<Name>Counter overflow</Name>
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-									<SubItem>
-										<Name>Counter value</Name>
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-								<Info>
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-										<Info>
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-										</Info>
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-										<Name>Go counter</Name>
-										<Info>
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-										</Info>
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-										<Name>Target counter value</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
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-								<Type>DT7020</Type>
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-								<Info>
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-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Set counter value</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
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-								<Flags>
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-							<Object>
-								<Index>#x8000</Index>
-								<Name>Feature bits</Name>
-								<Type>DT8000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>0f</DefaultData>
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-									<SubItem>
-										<Name>Emergency ramp active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Sign/amount representation</Name>
-										<Info>
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-									<SubItem>
-										<Name>Rising edge clears/sets counter</Name>
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-											<DefaultData>01</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Ramp function active</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Ramp base frequency</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-										<Name>Direct input mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-										<Name>Users switch-on-value on wdt</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Travel distance control active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Rising edge sets counter</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Name>Operating mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Name>Negative logic</Name>
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-											<DefaultData>00</DefaultData>
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-								<Flags>
-									<Access>rw</Access>
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-							<Object>
-								<Index>#x8001</Index>
-								<Name>User settings</Name>
-								<Type>DT8001</Type>
-								<BitSize>176</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>08</DefaultData>
-										</Info>
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-										<Name>Users switch-on-value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Base frequency 1</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>50000</DefaultValue>
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-									<SubItem>
-										<Name>Base frequency 2</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>100000</DefaultValue>
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-									<SubItem>
-										<Name>Ramp time constant (rising)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
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-										<Name>Ramp time constant (falling)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
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-									</SubItem>
-									<SubItem>
-										<Name>Frequency factor (Digit x 10mHz)</Name>
-										<Info>
-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
-											<DefaultValue>100</DefaultValue>
-										</Info>
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-									<SubItem>
-										<Name>Slowing down frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
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-										<Name>Ramp time constant (emergency)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
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-									<Access>rw</Access>
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-							<Object>
-								<Index>#x8010</Index>
-								<Name>PTO Settings</Name>
-								<Type>DT8010</Type>
-								<BitSize>192</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
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-											<DefaultData>18</DefaultData>
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-										<Info>
-											<DefaultData>00</DefaultData>
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-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Sign/amount representation</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
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-									<SubItem>
-										<Name>Ramp function active</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
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-										<Name>Ramp base frequency</Name>
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-											<DefaultData>00</DefaultData>
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-											<DefaultData>00</DefaultData>
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-											<DefaultData>00</DefaultData>
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-										<Name>Users switch-on-value</Name>
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-											<DefaultData>0000</DefaultData>
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-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>50000</DefaultValue>
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-											<MaxValue>500000</MaxValue>
-											<DefaultValue>100000</DefaultValue>
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-										<Info>
-											<DefaultData>e803</DefaultData>
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-											<DefaultData>e803</DefaultData>
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-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
-											<DefaultValue>100</DefaultValue>
-										</Info>
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-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
-										</Info>
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-										<Name>Ramp time constant (emergency)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
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-								<Info>
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-										<Name>SubIndex 000</Name>
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-											<DefaultData>00000000</DefaultData>
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-											<MaxValue>32767</MaxValue>
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-								<Info>
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-								<Info>
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-										<Name>Module index distance</Name>
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-											<DefaultData>1000</DefaultData>
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-									<SubItem>
-										<Name>Maximum number of modules</Name>
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-										</Info>
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-								<Info>
-									<DefaultData>00000000</DefaultData>
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-								<Name>Module list</Name>
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-								<Info>
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-										<Name>SubIndex 000</Name>
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-					<Exclude>#x1605</Exclude>
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-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
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-						<DataType>UINT</DataType>
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-					<Entry>
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-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
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-				<RxPdo Fixed="1">
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-					<Name>PTO Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Frequency select</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Disable ramp</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
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-						<BitLen>5</BitLen>
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-					<Entry>
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-						<BitLen>8</BitLen>
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-					<Entry>
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-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
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-				<RxPdo Fixed="1">
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-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
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-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
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-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x3F90019">EL2521-0025</Type>
-				<HideType RevisionNo="#x3F80019"/>
-				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
-				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30303235</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>1900f803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1405</Index>
-								<Name>ENC RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1407</Index>
-								<Name>PTO RxPDO-Par Target</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1600</Index>
-								<Name>RxPDO-Map</Name>
-								<Type>DT1600</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>10010070</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>10020070</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1601</Index>
-								<Name>PTO RxPDO-Map Control</Name>
-								<Type>DT1601</Type>
-								<BitSize>208</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>01011070</DefaultData>
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-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>01021070</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 003</Name>
-										<Info>
-											<DefaultData>01031070</DefaultData>
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-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 004</Name>
-										<Info>
-											<DefaultData>05000000</DefaultData>
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-									</SubItem>
-									<SubItem>
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-				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
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-								<EnumInfo>
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-								<BaseType>USINT</BaseType>
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-								<EnumInfo>
-									<Text>Frequency mod.</Text>
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-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
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-								<EnumInfo>
-									<Text>Incremental enc.</Text>
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-								<BaseType>BOOL</BaseType>
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-									<Text>10 Hz</Text>
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-								<EnumInfo>
-									<Text>1 kHz</Text>
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-								<EnumInfo>
-									<Text>Frequency mod.</Text>
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-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
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-								<EnumInfo>
-									<Text>Incremental enc.</Text>
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-								<BaseType>UDINT</BaseType>
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-									<Elements>1</Elements>
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-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>112</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
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-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
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-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
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-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>80</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
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-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							<DataType>
-								<Name>DT1602</Name>
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-								<SubItem>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
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-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
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-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>112</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>144</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
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-								<SubItem>
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-									<Name>SubIndex 000</Name>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
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-								<BitSize>72</BitSize>
-								<SubItem>
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-									<Type>USINT</Type>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
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-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
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-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-										<Access>ro</Access>
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-										<Access>ro</Access>
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-								<SubItem>
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-										<Access>ro</Access>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-									<Name>SubIndex 005</Name>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-									<Name>SubIndex 008</Name>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-									<Name>SubIndex 009</Name>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-									<Name>SubIndex 010</Name>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
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-							<DataType>
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-										<Category>o</Category>
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-								<SubItem>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
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-							<DataType>
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-							<DataType>
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-								<SubItem>
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-										<Category>o</Category>
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-								<SubItem>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-								</SubItem>
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-							<DataType>
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-							<DataType>
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-								<SubItem>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-								<SubItem>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-							<DataType>
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-								<SubItem>
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-									<Name>Sync mode</Name>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30303235</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>1900fa03</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
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-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x0010007c">EL2521-0124</Type>
-				<Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
-				<Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>512</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1401</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>240</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1603</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>40</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>272</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
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-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
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-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
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-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
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-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
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-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>432</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SubIndex 011</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>SubIndex 012</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>368</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>SubIndex 013</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>400</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Latch extern valid</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Status of extern latch</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Latch value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>PLS Enabled</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Status of output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Enable latch extern on positive edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Enable latch extern on negative edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable PLS</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Switch on value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Switch off value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Output set active low</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30313234</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>7c001000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1401</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>041605160616</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>PLS RxPDO-Par Control compact</Name>
-								<Type>DT1401</Type>
-								<BitSize>64</BitSize>
-								<Info>
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-						<BitLen>1</BitLen>
-						<Name>PLS Enabled</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DCIN</Name>
-						<Desc>DC-Synchron (input based)</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x0011007c">EL2521-0124</Type>
-				<HideType RevisionNo="#x0010007c"/>
-				<Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
-				<Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>512</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1401</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>240</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1603</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>40</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>272</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>432</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SubIndex 011</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>SubIndex 012</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>368</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>SubIndex 013</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>400</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Latch extern valid</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Status of extern latch</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Latch value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>PLS Enabled</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Status of output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Enable latch extern on positive edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Enable latch extern on negative edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable PLS</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Switch on value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Switch off value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Output set active low</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323532312d30313234</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>7c001000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-										<Info>
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-										<Info>
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-										<Info>
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-										<Name>Ramp base frequency</Name>
-										<Info>
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-										</Info>
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-											<MinValue>#x0</MinValue>
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-										</Info>
-									</SubItem>
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-										<Info>
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-										<Name>SubIndex 000</Name>
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-										<Info>
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-										</Info>
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-										<Name>Maximum number of modules</Name>
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-											<DefaultData>0300</DefaultData>
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-								<Name>Code word</Name>
-								<Type>UDINT</Type>
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-								<Info>
-									<DefaultData>00000000</DefaultData>
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-							</Object>
-							<Object>
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-								<Name>Module list</Name>
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-					<Entry>
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-						<SubIndex>17</SubIndex>
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-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1606</Exclude>
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-						<DataType>BOOL</DataType>
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-						<DataType>UINT</DataType>
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-						<DataType>BOOL</DataType>
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-						<SubIndex>17</SubIndex>
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-						<DataType>UDINT</DataType>
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-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1606</Exclude>
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-						<Index>#x7020</Index>
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-						<DataType>BOOL</DataType>
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-						<DataType>UINT</DataType>
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-					<Entry>
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-						<DataType>UINT</DataType>
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-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
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-					<Entry>
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-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
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-					<Entry>
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-						<BitLen>32</BitLen>
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-						<DataType>UDINT</DataType>
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-						<BitLen>32</BitLen>
-						<Name>Switch off value</Name>
-						<DataType>UDINT</DataType>
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-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
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-					<Entry>
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-						<Name>Ramp active</Name>
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-					<Entry>
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-					<Entry>
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-					<Entry>
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-					<Entry>
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-					<Entry>
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-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
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-					<Entry>
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-						<Name>Latch extern valid</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
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-						<DataType>BOOL</DataType>
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-					<Entry>
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-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
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-					<Entry>
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-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
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-					<Entry>
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-					<Entry>
-						<Index>#x0</Index>
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-					<Entry>
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-						<SubIndex>13</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of extern latch</Name>
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-						<DataType>BOOL</DataType>
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-					<Entry>
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-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
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-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
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-					<Entry>
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-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Latch value</Name>
-						<DataType>UINT</DataType>
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-					<Entry>
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-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
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-					<Entry>
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-					<Entry>
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-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
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-					<Entry>
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-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
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-						<DataType>BOOL</DataType>
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-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>13</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of extern latch</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1804</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Latch value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a02</Index>
-					<Name>PLS Status</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>PLS Enabled</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DCIN</Name>
-						<Desc>DC-Synchron (input based)</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9d93052" RevisionNo="#x0012007c">EL2521-0124</Type>
-				<HideType RevisionNo="#x0010007c"/>
-				<HideType RevisionNo="#x0011007c"/>
-				<Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
-				<Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511/512)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1602</Pdo>
-									<Pdo>#x1603</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511/512)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1604</Pdo>
-									<Pdo>#x1605</Pdo>
-									<Pdo>#x1606</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a02</Pdo>
-									<Pdo>#x1a04</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>512</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1401</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>240</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1603</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>40</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>272</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>432</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SubIndex 011</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>SubIndex 012</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>368</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>SubIndex 013</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>400</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Latch extern valid</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Status of extern latch</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Latch value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>PLS Enabled</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Status of output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Enable latch extern on positive edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Enable latch extern on negative edge</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable PLS</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Output</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Switch on value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Switch off value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Output set active low</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
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-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1800</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a01</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a04</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Latch extern valid</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>13</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Status of extern latch</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Latch value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a04</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a01</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Latch extern valid</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>13</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Status of extern latch</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1804</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Latch value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a02</Index>
-					<Name>PLS Status</Name>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__PLS Enabled</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Status of output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Sync error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DCIN</Name>
-						<Desc>DC-Synchron (input based)</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09D93052" RevisionNo="#x000003E9">EL2521-1001</Type>
-				<Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
-				<Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="54" StartAddress="6144" ControlByte="38" Enable="1">MBoxOut</Sm>
-				<Sm DefaultSize="54" StartAddress="6272" ControlByte="34" Enable="1">MBoxIn</Sm>
-				<Sm StartAddress="4096" ControlByte="36" Enable="1">Outputs</Sm>
-				<Sm StartAddress="4352" ControlByte="32" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>Outputs</Name>
-					<Exclude>#x1601</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1601</Index>
-					<Name>Outputs</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>8</BitLen>
-						<Name>Status</Name>
-						<DataType>USINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox>
-					<CoE SdoInfo="1" PdoAssign="1" PdoConfig="0"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003000000</ConfigData>
-					<BootStrap>0018f400f418f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x000103e9">EL2521-1001</Type>
-				<HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000	"/>
-				<Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
-				<Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>252</AddInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(16)</Name>
-								<BitSize>128</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0029</Name>
-								<BitSize>16</BitSize>
-								<EnumInfo>
-									<Text>Free Run</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Synchron</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>SYNC0 Event</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0800</Name>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801</Name>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor Id</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product Code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision Number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial Number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>RxPDO Mapping Element 1: Ctrl</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>RxPDO Mapping Element 2: Data Out</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>TxPDO Mapping Element 1: Status</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>TxPDO Mapping Element 2: Data In</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
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-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
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-									<Elements>4</Elements>
-								</ArrayInfo>
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-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
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-								</SubItem>
-								<SubItem>
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-									<Type>DT1C00ARR</Type>
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-										<Access>ro</Access>
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-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
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-									<MinValue>0</MinValue>
-									<MaxValue>1</MaxValue>
-									<DefaultValue>1</DefaultValue>
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-										<Access>rw</Access>
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-								<SubItem>
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-									<Type>UINT</Type>
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-									<BitOffs>16</BitOffs>
-									<MinValue>#x1600</MinValue>
-									<MaxValue>#x1600</MaxValue>
-									<DefaultValue>#x1600</DefaultValue>
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-										<Access>rw</Access>
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-								<Name>DT1C13</Name>
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-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
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-									<MinValue>0</MinValue>
-									<MaxValue>1</MaxValue>
-									<DefaultValue>1</DefaultValue>
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-										<Access>rw</Access>
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-								<SubItem>
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-									<Name>Assigned TxPDO</Name>
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-									<BitOffs>16</BitOffs>
-									<MinValue>#x1600</MinValue>
-									<MaxValue>#x1600</MaxValue>
-									<DefaultValue>#x1600</DefaultValue>
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-										<Access>rw</Access>
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-							<DataType>
-								<Name>DT6000</Name>
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-								<SubItem>
-									<SubIdx>0</SubIdx>
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-									<Type>USINT</Type>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
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-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>T</PdoMapping>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>T</PdoMapping>
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-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
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-									<SubIdx>0</SubIdx>
-									<Name>No of Elements</Name>
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-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>0</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<MinValue>#x64</MinValue>
-									<MaxValue>#x0007a120</MaxValue>
-									<DefaultValue>50000</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
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-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<MinValue>#x64</MinValue>
-									<MaxValue>#x0007a120</MaxValue>
-									<DefaultValue>100000</DefaultValue>
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-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
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-										<Access>rw</Access>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<MinValue>#x01</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>100</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#x7fff</MaxValue>
-									<DefaultValue>50</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffff</MaxValue>
-									<DefaultValue>1000</DefaultValue>
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-										<Access>rw</Access>
-									</Flags>
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-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
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-									<SubIdx>0</SubIdx>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>16</BitOffs>
-									<MinValue>#x00</MinValue>
-									<MaxValue>#xffffffff</MaxValue>
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-										<Access>rw</Access>
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-								<SubItem>
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-									<Name>Maximum frequency</Name>
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-									<BitOffs>48</BitOffs>
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-									<MaxValue>#x7fff</MaxValue>
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-							<DataType>
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-									<SubIdx>0</SubIdx>
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-										<Access>ro</Access>
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-										<Access>ro</Access>
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-								<Index>#x1000</Index>
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-								<Info>
-									<DefaultData>00000000</DefaultData>
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-									<Access>ro</Access>
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-								<Index>#x100a</Index>
-								<Name>Software Version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
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-							<Object>
-								<Index>#x1011</Index>
-								<Name>Load Default Settings</Name>
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-									<DefaultData>010000000000</DefaultData>
-								</Info>
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-								<Index>#x1018</Index>
-								<Name>Identity</Name>
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-								<BitSize>144</BitSize>
-								<Info>
-									<DefaultData>0400020000005230d909e903010000000000</DefaultData>
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-								<BitSize>80</BitSize>
-								<Info>
-									<DefaultData>02001001007010020070</DefaultData>
-								</Info>
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-								<Index>#x1a00</Index>
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-								<Info>
-									<DefaultData>02001001006010020060</DefaultData>
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-								<Index>#x1c00</Index>
-								<Name>Sync Manager Type</Name>
-								<Type>DT1C00</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>040001020304</DefaultData>
-								</Info>
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-								</Flags>
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-								<Index>#x1c01</Index>
-								<Name>Process Data Format</Name>
-								<Type>UINT</Type>
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-								<Info>
-									<DefaultData>0001</DefaultData>
-								</Info>
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-								<Index>#x1c12</Index>
-								<Name>SM 002 RxPDO Assign</Name>
-								<Type>DT1C12</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>01000016</DefaultData>
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-							<Object>
-								<Index>#x1c13</Index>
-								<Name>SM 003 TxPDO Assign</Name>
-								<Type>DT1C13</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>01000016</DefaultData>
-								</Info>
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-								<Index>#x6000</Index>
-								<Name>Inputs</Name>
-								<Type>DT6000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>020000000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
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-							<Object>
-								<Index>#x7000</Index>
-								<Name>Outputs</Name>
-								<Type>DT7000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>020000000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8000</Index>
-								<Name>Feature bits</Name>
-								<Type>DT8000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>0f003000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8001</Index>
-								<Name>User settings</Name>
-								<Type>DT8001</Type>
-								<BitSize>176</BitSize>
-								<Info>
-									<DefaultData>0800000050c30000a0860100e803e80364003200e803</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8800</Index>
-								<Name>Volatile Settings</Name>
-								<Type>DT8800</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<DefaultData>0200000000000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xa000</Index>
-								<Name>Diagnostic Parameter</Name>
-								<Type>DTA000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>01000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf000</Index>
-								<Name>Profile Settings</Name>
-								<Type>DTF000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>02001001</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code Word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-								</Flags>
-							</Object>
-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Sm DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>Outputs</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox>
-					<CoE SdoInfo="1" PdoAssign="0" PdoConfig="0"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003080000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x03F803E9">EL2521-1001</Type>
-				<HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000	"/>
-				<HideType RevisionNo="#x000103E9" ProductRevision="EL2521-1001-0001	"/>
-				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
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-							</DataType>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
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-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
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-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<BitSize>48</BitSize>
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-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
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-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-									<SubIdx>1</SubIdx>
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-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							<DataType>
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-								<BitSize>96</BitSize>
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-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							<DataType>
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-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							<DataType>
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-								<BitSize>208</BitSize>
-								<SubItem>
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-									<Name>SubIndex 000</Name>
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-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							<DataType>
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-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
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-							<DataType>
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-								<SubItem>
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-									<Name>Module index distance</Name>
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-								<Name>DTF010ARR</Name>
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-									<DefaultData>89130000</DefaultData>
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-									<DefaultData>454c32353231</DefaultData>
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-								<Name>Hardware version</Name>
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-								<Index>#x1402</Index>
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-								<Index>#x1404</Index>
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-								<Type>DT7000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
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-									<SubItem>
-										<Name>Ctrl</Name>
-										<Info>
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-										</Info>
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-									<SubItem>
-										<Name>Data Out</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
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-								<Flags>
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-							<Object>
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-								<Name>PTO Outputs</Name>
-								<Type>DT7010</Type>
-								<BitSize>72</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>12</DefaultData>
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-									</SubItem>
-									<SubItem>
-										<Name>Frequency select</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Disable ramp</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Go counter</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Frequency value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Target counter value</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#x7020</Index>
-								<Name>ENC Outputs</Name>
-								<Type>DT7020</Type>
-								<BitSize>56</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>11</DefaultData>
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-									</SubItem>
-									<SubItem>
-										<Name>Set counter</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Set counter value</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x8000</Index>
-								<Name>Feature bits</Name>
-								<Type>DT8000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>0f</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Emergency ramp active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sign/amount representation</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Rising edge clears/sets counter</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp function active</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp base frequency</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Direct input mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Users switch-on-value on wdt</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Travel distance control active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Rising edge sets counter</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Operating mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Negative logic</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#x8001</Index>
-								<Name>User settings</Name>
-								<Type>DT8001</Type>
-								<BitSize>176</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>08</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Users switch-on-value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 1</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>50000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 2</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>100000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (rising)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (falling)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Frequency factor (Digit x 10mHz)</Name>
-										<Info>
-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
-											<DefaultValue>100</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Slowing down frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (emergency)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
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-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#x8010</Index>
-								<Name>PTO Settings</Name>
-								<Type>DT8010</Type>
-								<BitSize>192</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>18</DefaultData>
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-										<Name>Emergency ramp active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Watchdog timer deactive</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Sign/amount representation</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp function active</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Ramp base frequency</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Direct input mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-										<Name>Users switch-on-value on wdt</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Travel distance control active</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Operating mode</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Negative logic</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Users switch-on-value</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Base frequency 1</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>50000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Base frequency 2</Name>
-										<Info>
-											<MinValue>100</MinValue>
-											<MaxValue>500000</MaxValue>
-											<DefaultValue>100000</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (rising)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (falling)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Frequency factor (Digit x 10mHz)</Name>
-										<Info>
-											<MinValue>1</MinValue>
-											<MaxValue>65535</MaxValue>
-											<DefaultValue>100</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Slowing down frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>50</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ramp time constant (emergency)</Name>
-										<Info>
-											<DefaultData>e803</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x8800</Index>
-								<Name>Volatile settings</Name>
-								<Type>DT8800</Type>
-								<BitSize>64</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Target counter state</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum frequency</Name>
-										<Info>
-											<MinValue>0</MinValue>
-											<MaxValue>32767</MaxValue>
-											<DefaultValue>0</DefaultValue>
-										</Info>
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-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#xa000</Index>
-								<Name>Diagnostic parameter</Name>
-								<Type>DTA000</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Counter extension</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#xf000</Index>
-								<Name>Modular device profile</Name>
-								<Type>DTF000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Module index distance</Name>
-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0300</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#xf010</Index>
-								<Name>Module list</Name>
-								<Type>DTF010</Type>
-								<BitSize>112</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
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-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>fc000000</DefaultData>
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-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>fd000000</DefaultData>
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-										<Name>SubIndex 003</Name>
-										<Info>
-											<DefaultData>ff010000</DefaultData>
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-				<Fmmu>Inputs</Fmmu>
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-					<Name>Outputs</Name>
-					<Exclude>#x1601</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1605</Exclude>
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-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Ctrl</Name>
-						<DataType>UINT</DataType>
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-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
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-				<RxPdo Fixed="1">
-					<Index>#x1601</Index>
-					<Name>PTO Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Frequency select</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Disable ramp</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1604</Index>
-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
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-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
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-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x09d93052" RevisionNo="#x03F903E9">EL2521-1001</Type>
-				<HideType RevisionNo="#x000003E9"/>
-				<HideType RevisionNo="#x000103E9"/>
-				<HideType RevisionNo="#x03F803E9"/>
-				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>0</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO-Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>280</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>256</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>56</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>28</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
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-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c32353231</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>e903f803</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1405</Index>
-								<Name>ENC RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1407</Index>
-								<Name>PTO RxPDO-Par Target</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160216041600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1600</Index>
-								<Name>RxPDO-Map</Name>
-								<Type>DT1600</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
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-							<Object>
-								<Index>#x1601</Index>
-								<Name>PTO RxPDO-Map Control</Name>
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-								<BitSize>208</BitSize>
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-										<Name>SubIndex 000</Name>
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-								<Index>#x1602</Index>
-								<Name>ENC RxPDO-Map Control compact</Name>
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-								<Name>PTO RxPDO-Map Target compact</Name>
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-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data Out</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1601</Index>
-					<Name>PTO Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Frequency select</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Disable ramp</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Go counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Frequency value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1604</Index>
-					<Name>PTO Target compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1607</Index>
-					<Name>PTO Target</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Target counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1602</Index>
-					<Name>ENC Control compact</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1605</Exclude>
-					<Exclude>#x1607</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1">
-					<Index>#x1605</Index>
-					<Name>ENC Control</Name>
-					<Exclude>#x1600</Exclude>
-					<Exclude>#x1602</Exclude>
-					<Exclude>#x1604</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>8</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Set counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>Inputs</Name>
-					<Exclude>#x1a01</Exclude>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a05</Exclude>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Status</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Data In</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PTO Status</Name>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sel. Ack/End counter</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>2</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Ramp active</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input target</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status of input zero</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>6</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1801</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a02</Index>
-					<Name>ENC Status compact</Name>
-					<Exclude>#x1a05</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UINT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a05</Index>
-					<Name>ENC Status</Name>
-					<Exclude>#x1a02</Exclude>
-					<Exclude>#x1a00</Exclude>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>2</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>3</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Set counter done</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>4</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter underflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Counter overflow</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>5</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1c32</Index>
-						<SubIndex>32</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Sync Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-					</Entry>
-					<Entry>
-						<Index>#x1805</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6020</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>32</BitLen>
-						<Name>Counter value</Name>
-						<DataType>UDINT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Dc>
-					<OpMode>
-						<Name>Synchron</Name>
-						<Desc>FreeRun/SM-Synchron</Desc>
-						<AssignActivate>#x0</AssignActivate>
-						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-					<OpMode>
-						<Name>DC</Name>
-						<Desc>DC-Synchron</Desc>
-						<AssignActivate>#x300</AssignActivate>
-						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-						<ShiftTimeSync0>0</ShiftTimeSync0>
-						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
-						<ShiftTimeSync1>0</ShiftTimeSync1>
-					</OpMode>
-				</Dc>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0500030c32000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9d93052" RevisionNo="#x3fa03e9">EL2521-1001</Type>
-				<HideType RevisionNo="#x00003e9"/>
-				<HideType RevisionNo="#x000103e9"/>
-				<HideType RevisionNo="#x3f803e9"/>
-				<HideType RevisionNo="#x3f903e9"/>
-				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
-				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>280</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping>
-								<Name>Legacy (MDP 252)</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard 16 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1602</Pdo>
-									<Pdo>#x1604</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Standard 32 Bit (MDP 253/511)</Name>
-								<Sm No="2">
-									<Pdo>#x1601</Pdo>
-									<Pdo>#x1605</Pdo>
-									<Pdo>#x1607</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a05</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>252</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>253</AddInfo>
-					</ChannelInfo>
-					<ChannelInfo>
-						<ProfileNo>5001</ProfileNo>
-						<AddInfo>511</AddInfo>
-					</ChannelInfo>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..5] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>6</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..9] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>80</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>10</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(11)</Name>
-								<BitSize>88</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0800EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0801EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN01</Name>
-								<BaseType>BOOL</BaseType>
-								<BitSize>1</BitSize>
-								<EnumInfo>
-									<Text>10 Hz</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>1 kHz</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Frequency mod.</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Pulse-dir. ctrl</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Incremental enc.</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1400</Name>
-								<BitSize>96</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude RxPDOs</Name>
-									<Type>ARRAY [0..9] OF BYTE</Type>
-									<BitSize>80</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1601</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1602</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1604</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1801</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Exclude TxPDOs</Name>
-									<Type>ARRAY [0..5] OF BYTE</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>336</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>SubIndex 009</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>272</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>SubIndex 010</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>48</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>48</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Status</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data In</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6010</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sel. Ack/End counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Status of input target</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Status of input zero</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter done</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Counter underflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Counter overflow</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Ctrl</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Data Out</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Frequency select</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Disable ramp</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Go counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Frequency value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Target counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7020</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Set counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Set counter value</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Rising edge clears/sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0800EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Rising edge sets counter</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>26</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0801EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>15</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8001</Name>
-								<BitSize>176</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8010</Name>
-								<BitSize>192</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Emergency ramp active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Watchdog timer deactive</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sign/amount representation</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Ramp function active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Ramp base frequency</Name>
-									<Type>DT0802EN01</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Direct input mode</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>23</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Users switch-on-value on wdt</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>24</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>10</SubIdx>
-									<Name>Travel distance control active</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>25</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Operating mode</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>29</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Negative logic</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Users switch-on-value</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Base frequency 1</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Base frequency 2</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Ramp time constant (rising)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>21</SubIdx>
-									<Name>Ramp time constant (falling)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>22</SubIdx>
-									<Name>Frequency factor (Digit x 10mHz)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>23</SubIdx>
-									<Name>Slowing down frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>24</SubIdx>
-									<Name>Ramp time constant (emergency)</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8800</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Target counter state</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum frequency</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>32</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Counter extension</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>96</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>3</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>112</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>96</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-						</DataTypes>
-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>89130000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(11)</Type>
-								<BitSize>88</BitSize>
-								<Info>
-									<DefaultData>454c323532312d31303031</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230d909</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>e903fa03</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
-								<Type>DT10F0</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1400</Index>
-								<Name>RxPDO-Par</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>01160416071602160516</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1401</Index>
-								<Name>PTO RxPDO-Par Control</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160000000000000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1402</Index>
-								<Name>ENC RxPDO-Par Control compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Exclude RxPDOs</Name>
-										<Info>
-											<DefaultData>00160516071600000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1404</Index>
-								<Name>PTO RxPDO-Par Target compact</Name>
-								<Type>DT1400</Type>
-								<BitSize>96</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
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-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Extended info data</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-									<Pdo>#x1a03</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..3] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp aktiv</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last output value aktiv</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0804EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>272</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Digital input 1</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ready to enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Warning</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Info data 1</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Info data 2</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Reset</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>232</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Invert polarity</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Default output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Max current [%]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Kp factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Ki factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Kd factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>30</SubIdx>
-									<Name>Dithering frequency [Hz]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>31</SubIdx>
-									<Name>Dithering amplitude [%]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>33</SubIdx>
-									<Name>Select info data 1</Name>
-									<Type>DT0802EN08</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>216</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>34</SubIdx>
-									<Name>Select info data 2</Name>
-									<Type>DT0804EN08</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800F</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Gain</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Overtemperature</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Undervoltage</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Overvoltage</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Short circuit</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF900</Name>
-								<BitSize>40</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Voltage [mV]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
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-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>fa000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>fa000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf900</Index>
-								<Name>PWM Info data</Name>
-								<Type>DTF900</Type>
-								<BitSize>40</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Voltage [mV]</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Temperature [°C]</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xfb00</Index>
-								<Name>PWM Command</Name>
-								<Type>DTFB00</Type>
-								<BitSize>72</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
-										</Info>
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-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-						</Objects>
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-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>PWM Control Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable dithering</Name>
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-					<Entry>
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-					<Entry>
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-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
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-					<Entry>
-						<Index>#x7000</Index>
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-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2">
-					<Index>#x1601</Index>
-					<Name>PWM Control Channel 2</Name>
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-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable dithering</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
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-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Reset</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>PWM Status Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Digital input 1</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>7</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1800</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PWM Synchron info data Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 1</Name>
-						<DataType>INT</DataType>
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-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 2</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a02</Index>
-					<Name>PWM Status Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Digital input 1</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>7</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a03</Index>
-					<Name>PWM Synchron info data Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 1</Name>
-						<DataType>INT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 2</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003000a000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9e73052" RevisionNo="#x00100002">EL2535-0002</Type>
-				<Name LcId="1033">EL2535-0002 2Ch. Pulse Width Current Output (24V, 2 A)</Name>
-				<Name LcId="1031">EL2535-0002 2K. Pulsweiten Strom Ausgang (24V, 2 A)</Name>
-				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
-				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Extended info data</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-									<Pdo>#x1a03</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..3] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp aktiv</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last output value aktiv</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0804EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
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-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
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-									<Elements>1</Elements>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
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-										<Access>rw</Access>
-										<Category>o</Category>
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-								<BitSize>144</BitSize>
-								<SubItem>
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-									<Name>SubIndex 000</Name>
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-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-									<Name>SubIndex 000</Name>
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-									<BitOffs>0</BitOffs>
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-										<Access>ro</Access>
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-								<SubItem>
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-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
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-							<DataType>
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-								<BitSize>208</BitSize>
-								<SubItem>
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-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>272</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A01</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C00</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C00ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C12ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C12</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C12ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C13ARR</Name>
-								<BaseType>UINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1C13</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Digital input 1</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ready to enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Warning</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Info data 1</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Info data 2</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Reset</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>232</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Invert polarity</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Default output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Max current [%]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Kp factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Ki factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Kd factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>30</SubIdx>
-									<Name>Dithering frequency [Hz]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>31</SubIdx>
-									<Name>Dithering amplitude [%]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>33</SubIdx>
-									<Name>Select info data 1</Name>
-									<Type>DT0802EN08</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>216</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>34</SubIdx>
-									<Name>Select info data 2</Name>
-									<Type>DT0804EN08</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800F</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Gain</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Overtemperature</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Undervoltage</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Overvoltage</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Short circuit</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							</DataType>
-							<DataType>
-								<Name>DTF010ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>64</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>2</Elements>
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-							<DataType>
-								<Name>DTF010</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DTF010ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF900</Name>
-								<BitSize>40</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Voltage [mV]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Temperature [°C]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-							<DataType>
-								<Name>DTFB00</Name>
-								<BitSize>72</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Request</Name>
-									<Type>ARRAY [0..1] OF BYTE</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
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-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Status</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Response</Name>
-									<Type>ARRAY [0..3] OF BYTE</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>40</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-						<Objects>
-							<Object>
-								<Index>#x1000</Index>
-								<Name>Device type</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>8913fa00</DefaultData>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1008</Index>
-								<Name>Device name</Name>
-								<Type>STRING(6)</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<DefaultData>454c32353335</DefaultData>
-								</Info>
-								<Flags>
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-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1009</Index>
-								<Name>Hardware version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x100a</Index>
-								<Name>Software version</Name>
-								<Type>STRING(2)</Type>
-								<BitSize>16</BitSize>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#x1011</Index>
-								<Name>Restore default parameters</Name>
-								<Type>DT1011</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							<Object>
-								<Index>#x1018</Index>
-								<Name>Identity</Name>
-								<Type>DT1018</Type>
-								<BitSize>144</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>04</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Vendor ID</Name>
-										<Info>
-											<DefaultData>02000000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Product code</Name>
-										<Info>
-											<DefaultData>5230e709</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Revision</Name>
-										<Info>
-											<DefaultData>02001000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Serial number</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
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-							<Object>
-								<Index>#x10f0</Index>
-								<Name>Backup parameter handling</Name>
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-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>01</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Checksum</Name>
-										<Info>
-											<DefaultData>00000000</DefaultData>
-										</Info>
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-								<Flags>
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-									<Category>o</Category>
-								</Flags>
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-							<Object>
-								<Index>#x1600</Index>
-								<Name>PWM RxPDO-Map Control Ch.1</Name>
-								<Type>DT1600</Type>
-								<BitSize>208</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>06</DefaultData>
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-											<DefaultData>01010070</DefaultData>
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-											<DefaultData>04000000</DefaultData>
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-							<Object>
-								<Index>#x1601</Index>
-								<Name>PWM RxPDO-Map Control Ch.2</Name>
-								<Type>DT1600</Type>
-								<BitSize>208</BitSize>
-								<Info>
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-											<DefaultData>06</DefaultData>
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-								<Name>PWM TxPDO-Map Status Ch.1</Name>
-								<Type>DT1A00</Type>
-								<BitSize>272</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
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-										<Info>
-											<DefaultData>0000</DefaultData>
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-									<SubItem>
-										<Name>Default output ramp</Name>
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-											<MinValue>#x1</MinValue>
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-											<DefaultValue>#xffff</DefaultValue>
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-									<SubItem>
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-											<MinValue>#x1</MinValue>
-											<MaxValue>#x64</MaxValue>
-											<DefaultValue>#x64</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Kp factor</Name>
-										<Info>
-											<DefaultData>fa00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Ki factor</Name>
-										<Info>
-											<DefaultData>0400</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Kd factor</Name>
-										<Info>
-											<DefaultData>3200</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Dithering frequency [Hz]</Name>
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-											<MinValue>#x1</MinValue>
-											<MaxValue>#x1f4</MaxValue>
-											<DefaultValue>#x64</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Dithering amplitude [%]</Name>
-										<Info>
-											<MinValue>#x1</MinValue>
-											<MaxValue>#x1e</MaxValue>
-											<DefaultValue>#xa</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Select info data 1</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Select info data 2</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<Category>o</Category>
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-								<Type>DT800F</Type>
-								<BitSize>48</BitSize>
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-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Offset</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Gain</Name>
-										<Info>
-											<DefaultData>0040</DefaultData>
-										</Info>
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-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#x8010</Index>
-								<Name>PWM Settings Ch.2</Name>
-								<Type>DT8000</Type>
-								<BitSize>232</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>22</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Enable dithering</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Invert polarity</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Watchdog</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Offset</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Gain</Name>
-										<Info>
-											<MinValue>#xfffe0000</MinValue>
-											<MaxValue>#x1ffff</MaxValue>
-											<DefaultValue>#x10000</DefaultValue>
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-									</SubItem>
-									<SubItem>
-										<Name>Default output</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Default output ramp</Name>
-										<Info>
-											<MinValue>#x1</MinValue>
-											<MaxValue>#xffff</MaxValue>
-											<DefaultValue>#xffff</DefaultValue>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Max current [%]</Name>
-										<Info>
-											<MinValue>#x1</MinValue>
-											<MaxValue>#x64</MaxValue>
-											<DefaultValue>#x64</DefaultValue>
-										</Info>
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-									<SubItem>
-										<Name>Kp factor</Name>
-										<Info>
-											<DefaultData>fa00</DefaultData>
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-										<Name>Ki factor</Name>
-										<Info>
-											<DefaultData>0400</DefaultData>
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-									<SubItem>
-										<Name>Kd factor</Name>
-										<Info>
-											<DefaultData>3200</DefaultData>
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-										<Name>Dithering frequency [Hz]</Name>
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-											<MinValue>#x1</MinValue>
-											<MaxValue>#x1f4</MaxValue>
-											<DefaultValue>#x64</DefaultValue>
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-									<SubItem>
-										<Name>Dithering amplitude [%]</Name>
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-											<MinValue>#x1</MinValue>
-											<MaxValue>#x1e</MaxValue>
-											<DefaultValue>#xa</DefaultValue>
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-											<DefaultData>00</DefaultData>
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-								<Type>DT800F</Type>
-								<BitSize>48</BitSize>
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-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
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-										<Name>Offset</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
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-										<Name>Gain</Name>
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-											<DefaultData>0040</DefaultData>
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-									<Access>rw</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#xa000</Index>
-								<Name>PWM Diag data Ch.1</Name>
-								<Type>DTA000</Type>
-								<BitSize>24</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>07</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Overtemperature</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Undervoltage</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Overvoltage</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Short circuit</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#xa010</Index>
-								<Name>PWM Diag data Ch.2</Name>
-								<Type>DTA000</Type>
-								<BitSize>24</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>07</DefaultData>
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-									<SubItem>
-										<Name>Overtemperature</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Undervoltage</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-									<SubItem>
-										<Name>Overvoltage</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Short circuit</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#xf000</Index>
-								<Name>Modular device profile</Name>
-								<Type>DTF000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Module index distance</Name>
-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0200</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf010</Index>
-								<Name>Module list</Name>
-								<Type>DTF010</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
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-									<SubItem>
-										<Name>SubIndex 001</Name>
-										<Info>
-											<DefaultData>fa000000</DefaultData>
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-										<Name>SubIndex 002</Name>
-										<Info>
-											<DefaultData>fa000000</DefaultData>
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-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf900</Index>
-								<Name>PWM Info data</Name>
-								<Type>DTF900</Type>
-								<BitSize>40</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
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-									<SubItem>
-										<Name>Voltage [mV]</Name>
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-											<DefaultData>0000</DefaultData>
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-									<SubItem>
-										<Name>Temperature [°C]</Name>
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-											<DefaultData>00</DefaultData>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							</Object>
-							<Object>
-								<Index>#xfb00</Index>
-								<Name>PWM Command</Name>
-								<Type>DTFB00</Type>
-								<BitSize>72</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
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-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-							</Object>
-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
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-				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
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-					<Index>#x1600</Index>
-					<Name>PWM Control Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable dithering</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
-						<Name>Control__</Name>
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-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Reset</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-						<Name>Control__</Name>
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-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>INT</DataType>
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-				</RxPdo>
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-					<Index>#x1601</Index>
-					<Name>PWM Control Channel 2</Name>
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-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable dithering</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
-						<Name>Control__</Name>
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-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Reset</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-						<Name>Control__</Name>
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-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>INT</DataType>
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-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>PWM Status Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Digital input 1</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>7</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x1800</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
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-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PWM Synchron info data Channel 1</Name>
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-						<Index>#x6000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 1</Name>
-						<DataType>INT</DataType>
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-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 2</Name>
-						<DataType>INT</DataType>
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-				</TxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a02</Index>
-					<Name>PWM Status Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Digital input 1</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>7</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x1802</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
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-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a03</Index>
-					<Name>PWM Synchron info data Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 1</Name>
-						<DataType>INT</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 2</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</TxPdo>
-				<Mailbox DataLinkLayer="true">
-					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003000a000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x9e73052" RevisionNo="#x00100032">EL2535-0050</Type>
-				<Name LcId="1033">EL2535-0050 2Ch. Pulse Width Current Output (24V, 50 mA)</Name>
-				<Name LcId="1031">EL2535-0050 2K. Pulsweiten Strom Ausgang (24V, 50 mA)</Name>
-				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
-				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-					<Mailbox>
-						<Timeout>
-							<RequestTimeout>100</RequestTimeout>
-							<ResponseTimeout>2000</ResponseTimeout>
-						</Timeout>
-					</Mailbox>
-					<VendorSpecific>
-						<TwinCAT>
-							<AlternativeSmMapping Default="1">
-								<Name>Standard</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a02</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-							<AlternativeSmMapping>
-								<Name>Extended info data</Name>
-								<Sm No="2">
-									<Pdo>#x1600</Pdo>
-									<Pdo>#x1601</Pdo>
-								</Sm>
-								<Sm No="3">
-									<Pdo>#x1a00</Pdo>
-									<Pdo>#x1a01</Pdo>
-									<Pdo>#x1a02</Pdo>
-									<Pdo>#x1a03</Pdo>
-								</Sm>
-							</AlternativeSmMapping>
-						</TwinCAT>
-					</VendorSpecific>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Profile>
-					<ProfileNo>5001</ProfileNo>
-					<AddInfo>250</AddInfo>
-					<ChannelCount>2</ChannelCount>
-					<Dictionary>
-						<DataTypes>
-							<DataType>
-								<Name>BIT2</Name>
-								<BitSize>2</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BOOL</Name>
-								<BitSize>1</BitSize>
-							</DataType>
-							<DataType>
-								<Name>BYTE</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>INT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UDINT</Name>
-								<BitSize>32</BitSize>
-							</DataType>
-							<DataType>
-								<Name>UINT</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>USINT</Name>
-								<BitSize>8</BitSize>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..1] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>16</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>2</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>ARRAY [0..3] OF BYTE</Name>
-								<BaseType>BYTE</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>0</LBound>
-									<Elements>4</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>STRING(2)</Name>
-								<BitSize>16</BitSize>
-							</DataType>
-							<DataType>
-								<Name>STRING(6)</Name>
-								<BitSize>48</BitSize>
-							</DataType>
-							<DataType>
-								<Name>DT0802EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0803EN02</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>2</BitSize>
-								<EnumInfo>
-									<Text>Default watchdog value</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Watchdog ramp aktiv</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Last output value aktiv</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT0804EN08</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>8</BitSize>
-								<EnumInfo>
-									<Text>Actual current Ch.1</Text>
-									<Enum>0</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.1</Text>
-									<Enum>1</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.1</Text>
-									<Enum>2</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.1</Text>
-									<Enum>3</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Actual current Ch.2</Text>
-									<Enum>32</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Set current Ch.2</Text>
-									<Enum>33</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Duty cycle Ch.2</Text>
-									<Enum>34</Enum>
-								</EnumInfo>
-								<EnumInfo>
-									<Text>Supply voltage Ch.2</Text>
-									<Enum>35</Enum>
-								</EnumInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011ARR</Name>
-								<BaseType>UDINT</BaseType>
-								<BitSize>32</BitSize>
-								<ArrayInfo>
-									<LBound>1</LBound>
-									<Elements>1</Elements>
-								</ArrayInfo>
-							</DataType>
-							<DataType>
-								<Name>DT1011</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1011ARR</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1018</Name>
-								<BitSize>144</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Vendor ID</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Product code</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Revision</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Serial number</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT10F0</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Checksum</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1600</Name>
-								<BitSize>208</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1A00</Name>
-								<BitSize>272</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>SubIndex 002</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>SubIndex 003</Name>
-									<Type>UDINT</Type>
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-									<BitOffs>80</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>SubIndex 004</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-									<SubIdx>5</SubIdx>
-									<Name>SubIndex 005</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>SubIndex 006</Name>
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-									<BitOffs>176</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
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-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>SubIndex 007</Name>
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-									<BitOffs>208</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>SubIndex 008</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>240</BitOffs>
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-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
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-								<Name>DT1A01</Name>
-								<BitSize>80</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>SubIndex 001</Name>
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-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
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-								</SubItem>
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-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
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-							<DataType>
-								<Name>DT1C00ARR</Name>
-								<BaseType>USINT</BaseType>
-								<BitSize>32</BitSize>
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-								<SubItem>
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-									</Flags>
-								</SubItem>
-								<SubItem>
-									<Name>Elements</Name>
-									<Type>DT1C13ARR</Type>
-									<BitSize>64</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT1C32</Name>
-								<BitSize>344</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Sync mode</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Shift time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>64</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Sync modes supported</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Minimum cycle time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Calc and copy time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Minimum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>176</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>8</SubIdx>
-									<Name>Command</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>9</SubIdx>
-									<Name>Maximum delay time</Name>
-									<Type>UDINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>SM event missed counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>288</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Cycle exceeded counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>304</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Shift too short counter</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>320</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>32</SubIdx>
-									<Name>Sync error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>336</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT6000</Name>
-								<BitSize>64</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Digital input 1</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Ready to enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Warning</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Error</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>TxPDO Toggle</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>31</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>Info data 1</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Info data 2</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>T</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT7000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Enable</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>7</SubIdx>
-									<Name>Reset</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>22</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>17</SubIdx>
-									<Name>PWM output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-										<PdoMapping>R</PdoMapping>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT8000</Name>
-								<BitSize>232</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>3</SubIdx>
-									<Name>Enable dithering</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>18</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Invert polarity</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Watchdog</Name>
-									<Type>DT0803EN02</Type>
-									<BitSize>2</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>11</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>12</SubIdx>
-									<Name>Gain</Name>
-									<Type>DINT</Type>
-									<BitSize>32</BitSize>
-									<BitOffs>48</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>13</SubIdx>
-									<Name>Default output</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>80</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>14</SubIdx>
-									<Name>Default output ramp</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>96</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>16</SubIdx>
-									<Name>Max current [%]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>112</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>18</SubIdx>
-									<Name>Kp factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>128</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>19</SubIdx>
-									<Name>Ki factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>144</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>20</SubIdx>
-									<Name>Kd factor</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>160</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>30</SubIdx>
-									<Name>Dithering frequency [Hz]</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>192</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>31</SubIdx>
-									<Name>Dithering amplitude [%]</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>208</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>33</SubIdx>
-									<Name>Select info data 1</Name>
-									<Type>DT0802EN08</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>216</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>34</SubIdx>
-									<Name>Select info data 2</Name>
-									<Type>DT0804EN08</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>224</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-										<Backup>1</Backup>
-										<Setting>1</Setting>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DT800F</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Offset</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Gain</Name>
-									<Type>INT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>32</BitOffs>
-									<Flags>
-										<Access>rw</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTA000</Name>
-								<BitSize>24</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Overtemperature</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>17</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>4</SubIdx>
-									<Name>Undervoltage</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>19</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>5</SubIdx>
-									<Name>Overvoltage</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>20</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>6</SubIdx>
-									<Name>Short circuit</Name>
-									<Type>BOOL</Type>
-									<BitSize>1</BitSize>
-									<BitOffs>21</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-							</DataType>
-							<DataType>
-								<Name>DTF000</Name>
-								<BitSize>48</BitSize>
-								<SubItem>
-									<SubIdx>0</SubIdx>
-									<Name>SubIndex 000</Name>
-									<Type>USINT</Type>
-									<BitSize>8</BitSize>
-									<BitOffs>0</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>1</SubIdx>
-									<Name>Module index distance</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
-									<BitOffs>16</BitOffs>
-									<Flags>
-										<Access>ro</Access>
-										<Category>o</Category>
-									</Flags>
-								</SubItem>
-								<SubItem>
-									<SubIdx>2</SubIdx>
-									<Name>Maximum number of modules</Name>
-									<Type>UINT</Type>
-									<BitSize>16</BitSize>
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-									<Flags>
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-									<SubItem>
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-										<Info>
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-										</Info>
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-									<SubItem>
-										<Name>Short circuit</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
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-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf000</Index>
-								<Name>Modular device profile</Name>
-								<Type>DTF000</Type>
-								<BitSize>48</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Module index distance</Name>
-										<Info>
-											<DefaultData>1000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Maximum number of modules</Name>
-										<Info>
-											<DefaultData>0200</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf008</Index>
-								<Name>Code word</Name>
-								<Type>UDINT</Type>
-								<BitSize>32</BitSize>
-								<Info>
-									<DefaultData>00000000</DefaultData>
-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf010</Index>
-								<Name>Module list</Name>
-								<Type>DTF010</Type>
-								<BitSize>80</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
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-										</Info>
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-										<Info>
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-										<Info>
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-								</Info>
-								<Flags>
-									<Access>rw</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xf900</Index>
-								<Name>PWM Info data</Name>
-								<Type>DTF900</Type>
-								<BitSize>40</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>02</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Voltage [mV]</Name>
-										<Info>
-											<DefaultData>0000</DefaultData>
-										</Info>
-									</SubItem>
-									<SubItem>
-										<Name>Temperature [°C]</Name>
-										<Info>
-											<DefaultData>00</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
-								</Flags>
-							</Object>
-							<Object>
-								<Index>#xfb00</Index>
-								<Name>PWM Command</Name>
-								<Type>DTFB00</Type>
-								<BitSize>72</BitSize>
-								<Info>
-									<SubItem>
-										<Name>SubIndex 000</Name>
-										<Info>
-											<DefaultData>03</DefaultData>
-										</Info>
-									</SubItem>
-								</Info>
-								<Flags>
-									<Access>ro</Access>
-									<Category>o</Category>
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-						</Objects>
-					</Dictionary>
-				</Profile>
-				<Fmmu>Outputs</Fmmu>
-				<Fmmu>Inputs</Fmmu>
-				<Fmmu>MBoxState</Fmmu>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
-				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
-				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
-				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2">
-					<Index>#x1600</Index>
-					<Name>PWM Control Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable dithering</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
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-						<Name>Control__</Name>
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-					<Entry>
-						<Index>#x7000</Index>
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-						<BitLen>1</BitLen>
-						<Name>Control__Enable</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x7000</Index>
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-						<BitLen>1</BitLen>
-						<Name>Control__Reset</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="2">
-					<Index>#x1601</Index>
-					<Name>PWM Control Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable dithering</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>4</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Control__Enable</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x7010</Index>
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-						<BitLen>1</BitLen>
-						<Name>Control__Reset</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>9</BitLen>
-						<Name>Control__</Name>
-					</Entry>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>PWM output</Name>
-						<DataType>INT</DataType>
-					</Entry>
-				</RxPdo>
-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a00</Index>
-					<Name>PWM Status Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Digital input 1</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>1</BitLen>
-						<Name>Status__Gap</Name>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>7</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x1800</Index>
-						<SubIndex>9</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
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-				</TxPdo>
-				<TxPdo Fixed="1">
-					<Index>#x1a01</Index>
-					<Name>PWM Synchron info data Channel 1</Name>
-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 1</Name>
-						<DataType>INT</DataType>
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-					<Entry>
-						<Index>#x6000</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 2</Name>
-						<DataType>INT</DataType>
-					</Entry>
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-				<TxPdo Fixed="1" Sm="3">
-					<Index>#x1a02</Index>
-					<Name>PWM Status Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Digital input 1</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-					<Entry>
-						<Index>#x0</Index>
-						<BitLen>3</BitLen>
-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>5</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Ready to enable</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>6</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Warning</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>7</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Status__Error</Name>
-						<DataType>BOOL</DataType>
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-					<Entry>
-						<Index>#x0</Index>
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-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x0</Index>
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-						<Name>Status__Gap</Name>
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-					<Entry>
-						<Index>#x1802</Index>
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-						<BitLen>1</BitLen>
-						<Name>Status__TxPDO Toggle</Name>
-						<DataType>BOOL</DataType>
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-				<TxPdo Fixed="1">
-					<Index>#x1a03</Index>
-					<Name>PWM Synchron info data Channel 2</Name>
-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>17</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 1</Name>
-						<DataType>INT</DataType>
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-					<Entry>
-						<Index>#x6010</Index>
-						<SubIndex>18</SubIndex>
-						<BitLen>16</BitLen>
-						<Name>Info data 2</Name>
-						<DataType>INT</DataType>
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-					<FoE/>
-				</Mailbox>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>050003000a000000000000000000</ConfigData>
-					<BootStrap>0010f400f410f400</BootStrap>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0a2a3052" RevisionNo="#x00100000">EL2602</Type>
-				<Name LcId="1033"><![CDATA[EL2602 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
-				<Name LcId="1031"><![CDATA[EL2602 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2602]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2602]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>170</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0a343052" RevisionNo="#x00100000">EL2612</Type>
-				<Name LcId="1033"><![CDATA[EL2612 2Ch. Relay Output, CO (125V AC / 30V DC)]]></Name>
-				<Name LcId="1031"><![CDATA[EL2612 2K. Relais Ausgang, Wechsler (125V AC / 30V DC)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2612]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2612]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>150</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
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-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
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-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0a3e3052" RevisionNo="#x00100000">EL2622</Type>
-				<Name LcId="1033"><![CDATA[EL2622 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
-				<Name LcId="1031"><![CDATA[EL2622 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2622]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2622]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>170</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0A403052" RevisionNo="#x00100000">EL2624</Type>
-				<Name LcId="1033"><![CDATA[EL2624 4Ch. Relay Output, NO (125V AC / 30V DC)]]></Name>
-				<Name LcId="1031"><![CDATA[EL2624 4K. Relais Ausgang, Schließer (125V AC / 30V DC)]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2624]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2624]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>200</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0a983052" RevisionNo="#x00100000">EL2712</Type>
-				<Name LcId="1033"><![CDATA[EL2712 2Ch. Triac Output 12..230V AC, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2712 2K. Triac Ausgang 12..230V AC, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2712]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2712]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0aa23052" RevisionNo="#x00100000">EL2722</Type>
-				<Name LcId="1033"><![CDATA[EL2722 2Ch. Triac Output 12..230V AC, 1.0A, mutually locked]]></Name>
-				<Name LcId="1031"><![CDATA[EL2722 2K. Triac Ausgang 12..230V AC, 1.0A, gegenseitig verriegelt]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2722]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2722]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0aac3052" RevisionNo="#x00100000">EL2732</Type>
-				<Name LcId="1033"><![CDATA[EL2732 2Ch. Triac Output 12..230V AC, 0.5A, no power contacts]]></Name>
-				<Name LcId="1031"><![CDATA[EL2732 2K. Triac Ausgang 12..230V AC, 0.5A, keine Powerkontakte]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2732]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2732]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>100</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0AEE3052" RevisionNo="#x00100000">EL2798</Type>
-				<Name LcId="1033"><![CDATA[EL2798 8Ch. Dig. Output 24V AC/DC, 2A, potential-free]]></Name>
-				<Name LcId="1031"><![CDATA[EL2798 8K. Dig. Ausgang 24V AC/DC, 2A, potentialfrei]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2798]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2798]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>140</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1605</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x7050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1606</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x7060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1607</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>0401000000000f00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0AF83052" RevisionNo="#x00100000">EL2808</Type>
-				<Name LcId="1033"><![CDATA[EL2808 8Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2808 8K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2808]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2808]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>110</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1605</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x7050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1606</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x7060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1607</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000ff00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0AF93052" RevisionNo="#x00100000">EL2809</Type>
-				<Name LcId="1033"><![CDATA[EL2809 16Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2809 16K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2809]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2809]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>140</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1605</Index>
-					<Name>Channel 6</Name>
-					<Entry>
-						<Index>#x7050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1606</Index>
-					<Name>Channel 7</Name>
-					<Entry>
-						<Index>#x7060</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1607</Index>
-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1608</Index>
-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x7080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1609</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x7090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160a</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x70a0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x70b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x70c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x70d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x70e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x70f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000ff00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0B383052" RevisionNo="#x00100000">EL2872</Type>
-				<Name LcId="1033"><![CDATA[EL2872 16Ch. Dig. Output 24V, 0.5A]]></Name>
-				<Name LcId="1031"><![CDATA[EL2872 16K. Dig. Ausgang 24V, 0.5A]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2872]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2872]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1601</Index>
-					<Name>Channel 2</Name>
-					<Entry>
-						<Index>#x7010</Index>
-						<SubIndex>1</SubIndex>
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-				</RxPdo>
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-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000ff00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0B383052" RevisionNo="#x0010000A">EL2872-0010</Type>
-				<Name LcId="1033"><![CDATA[EL2872-0010 16Ch. Dig. Output 24V, 0.5A, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL2872-0010 16K. Dig. Ausgang 24V, 0.5A, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2872]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2872]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>130</EBusCurrent>
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-						<Index>#x7080</Index>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
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-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160a</Index>
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-						<Index>#x70a0</Index>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
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-					<Name>Channel 12</Name>
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-						<Index>#x70b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160c</Index>
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-						<Index>#x70c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
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-						<Index>#x70d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
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-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x70e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
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-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x70f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000ff00</ConfigData>
-				</Eeprom>
-			</Device>
-			<Device Physics="KK">
-				<Type ProductCode="#x0B493052" RevisionNo="#x00100000">EL2889</Type>
-				<Name LcId="1033"><![CDATA[EL2889 16Ch. Dig. Output 24V, 0.5A, negative]]></Name>
-				<Name LcId="1031"><![CDATA[EL2889 16K. Dig. Ausgang 24V, 0.5A, negativ]]></Name>
-				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2889]]></URL>
-				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2889]]></URL>
-				<Info>
-					<Electrical>
-						<EBusCurrent>140</EBusCurrent>
-					</Electrical>
-				</Info>
-				<GroupType>DigOut</GroupType>
-				<Fmmu OpOnly="1">Outputs</Fmmu>
-				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
-				<Su FrameRepeatSupport="1"/>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1600</Index>
-					<Name>Channel 1</Name>
-					<Entry>
-						<Index>#x7000</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
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-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
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-					<Name>Channel 2</Name>
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-						<Index>#x7010</Index>
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-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1602</Index>
-					<Name>Channel 3</Name>
-					<Entry>
-						<Index>#x7020</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
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-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1603</Index>
-					<Name>Channel 4</Name>
-					<Entry>
-						<Index>#x7030</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
-					<Index>#x1604</Index>
-					<Name>Channel 5</Name>
-					<Entry>
-						<Index>#x7040</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
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-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
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-					<Name>Channel 6</Name>
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-						<Index>#x7050</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
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-					</Entry>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
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-					<Name>Channel 7</Name>
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-						<BitLen>1</BitLen>
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-				<RxPdo Fixed="1" Mandatory="1" Sm="0">
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-					<Name>Channel 8</Name>
-					<Entry>
-						<Index>#x7070</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
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-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
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-					<Name>Channel 9</Name>
-					<Entry>
-						<Index>#x7080</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
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-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x1609</Index>
-					<Name>Channel 10</Name>
-					<Entry>
-						<Index>#x7090</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160a</Index>
-					<Name>Channel 11</Name>
-					<Entry>
-						<Index>#x70a0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160b</Index>
-					<Name>Channel 12</Name>
-					<Entry>
-						<Index>#x70b0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160c</Index>
-					<Name>Channel 13</Name>
-					<Entry>
-						<Index>#x70c0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160d</Index>
-					<Name>Channel 14</Name>
-					<Entry>
-						<Index>#x70d0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160e</Index>
-					<Name>Channel 15</Name>
-					<Entry>
-						<Index>#x70e0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<RxPdo Fixed="1" Mandatory="1" Sm="1">
-					<Index>#x160f</Index>
-					<Name>Channel 16</Name>
-					<Entry>
-						<Index>#x70f0</Index>
-						<SubIndex>1</SubIndex>
-						<BitLen>1</BitLen>
-						<Name>Output</Name>
-						<DataType>BOOL</DataType>
-					</Entry>
-				</RxPdo>
-				<Eeprom>
-					<ByteSize>2048</ByteSize>
-					<ConfigData>040100000000ff00</ConfigData>
-				</Eeprom>
-			</Device>
-		</Devices>
-	</Descriptions>
-</EtherCATInfo>
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/modules/sanyo.xml
--- a/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/sanyo.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,9465 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
-  <Vendor>
-    <Id>#x1b9</Id>
-    <Name>Sanyodenki Co., Ltd.</Name>
-    <ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000010000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFCFFCCCFCFCFCFFFFCFFCFCFFCFCFCFFFCFFCFCFFCFCFCFFCFCFCFCFFFCFCFCFCFCFCCCFFFCCCCCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFCCCFCFCFCFFCFFFFFFCFCFCFCFCCFFFFCCCFCCCFCCFCFFFFCFFFCFCFCFFCFFFFCCCFCCCFCFFCFFFFFFFFFFFFFFFFFFFF</ImageData16x14>
-  </Vendor>
-  <Descriptions>
-    <Groups>
-      <Group SortOrder="520">
-        <Type>Drive</Type>
-        <Name LcId="1033">Drives</Name>
-        <Image16x14>DRIVE</Image16x14>
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-    <Devices>
-      <Device Physics="YY">
-        <Type TcCfgModeSafeOp="1" ProductCode="#x00000002" RevisionNo="#x00000000" SerialNo="#x20110111">SanyoDenki RS2 EtherCAT</Type>
-        <HideType ProductRevision="2" />
-        <Name LcId="1"><![CDATA[R ADVANCED MODEL with EtherCAT Coe Interface (8003.0.0111) ]]></Name>
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-            <Behavior StartToSafeopNoSync="false" />
-          </StateMachine>
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-        <GroupType>Drive</GroupType>
-        <Profile>
-          <ProfileNo>402</ProfileNo>
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-              <DataType>
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-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
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-                  <Name>Save all parameters</Name>
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-                  <BitSize>32</BitSize>
-                  <BitOffs>16</BitOffs>
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-                    <Access>rw</Access>
-                    <Category>o</Category>
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-                  <Name>largest sub-index supported</Name>
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-                    <Access>ro</Access>
-                    <Category>o</Category>
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-                    <Access>ro</Access>
-                    <Category>o</Category>
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-                    <Access>ro</Access>
-                    <Category>o</Category>
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-                  <Name>Serial number</Name>
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-                    <Access>ro</Access>
-                    <Category>o</Category>
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-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
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-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
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-                <SubItem>
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-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
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-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
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-                <SubItem>
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-                  <BitOffs>49</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
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-                  <Type>BOOLEAN</Type>
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-                  <BitOffs>50</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
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-              <DataType>
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-                <BitSize>1008</BitSize>
-                <SubItem>
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-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
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-                <SubItem>
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-                  <BitSize>32</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
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-                  <BitSize>32</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
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-                <SubItem>
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-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
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-                  <Name>4th mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>112</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
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-                <SubItem>
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-                  <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>
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-                  <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>
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-                  <Name>28th mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>880</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>29</SubIdx>
-                  <Name>29th mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>912</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>30</SubIdx>
-                  <Name>30th mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>944</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>31</SubIdx>
-                  <Name>31th mapping data</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>976</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT1800</Name>
-                <BitSize>50</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>TxPDO Excluded PDOs</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>7</SubIdx>
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-                  <Type>BOOLEAN</Type>
-                  <BitSize>1</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
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-                </SubItem>
-                <SubItem>
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-                  <Name>TxPDO toggle</Name>
-                  <Type>BOOLEAN</Type>
-                  <BitSize>1</BitSize>
-                  <BitOffs>49</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
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-                <SubItem>
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-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>SyncManager0 communication type</Name>
-                  <Type>USINT</Type>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
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-                  <Name>SyncManager1 communication type</Name>
-                  <Type>USINT</Type>
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-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>SyncManager2 communication type</Name>
-                  <Type>USINT</Type>
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-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>SyncManager3 communication type</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>40</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>SyncManager4 communication type</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>SyncManager5 communication type</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>56</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>7</SubIdx>
-                  <Name>SyncManager6 communication type</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>8</SubIdx>
-                  <Name>SyncManager7 communication type</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>72</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT1C10</Name>
-                <BitSize>16</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT1C12</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
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-                  <Name>Assign1</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
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-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Assign3</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Assign4</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT1C32</Name>
-                <BitSize>272</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Sync mode</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Cycle time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Shift time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Sync modes supported</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>Minimum cycle time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>96</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>Calc and copy time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>128</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>8</SubIdx>
-                  <Name>Command</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>160</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>9</SubIdx>
-                  <Name>Delay time</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>176</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>11</SubIdx>
-                  <Name>Cycle time too small</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>208</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>12</SubIdx>
-                  <Name>SM event missed</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>224</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>13</SubIdx>
-                  <Name>Shift too short counter</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>240</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>32</SubIdx>
-                  <Name>Sync error</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>256</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2002</Name>
-                <BitSize>40</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Tuning mode</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Tuning feature</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Tuning performance</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2005</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Kp1</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Kp2</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Kp3</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Kp4</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2006</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Tpi1</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Tpi2</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Tpi3</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Tpi4</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2008</Name>
-                <BitSize>48</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Feed forward gain</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Feed forward filter</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT200B</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Kvp1</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Kvp2</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Kvp3</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Kvp4</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT200C</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Tvi1</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Tvi2</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Tvi3</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Tvi4</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT200D</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Jrat1</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Jrat2</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Jrat3</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Jrat4</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT200F</Name>
-                <BitSize>48</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Acceleration feedback Gain</Name>
-                  <Type>INT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Acceleration feedback filter</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2011</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Tcfil1</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Tcfil2</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Tcfil3</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Tcfil4</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2012</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Supfrq1</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Supfrq2</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Supfrq3</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Supfrq4</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2014</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Tcnfil A</Name>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Tcnfil B</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Tcnfil C</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Tcnfil D</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2015</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Acceleration compensation</Name>
-                  <Type>INT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Deceleration compensation</Name>
-                  <Type>INT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Velocity command, Low-pass filter</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Velocity command threshold</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2016</Name>
-                <BitSize>120</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Observer characteristic</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Compention gain</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Output filter</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>40</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Notch filter</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>56</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>Load inertia rasio</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>72</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>loop proportional gain</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>88</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>7</SubIdx>
-                  <Name>Load torque filter</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>104</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2017</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Km1</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Km2</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Km3</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Km4</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2019</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Anrfrq1</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Anrfrq2</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Anrfrq3</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Anrfrq4</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT201A</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Resfrq1</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Resfrq2</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Resfrq3</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Resfrq4</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2023</Name>
-                <BitSize>40</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Analog monitor1</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Analog monitor2</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Analog monitor output polarity</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT202D</Name>
-                <BitSize>48</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Filter A, Low friquency phase delay improvement</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Filter B, Depth selection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Filter C, Depth selection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Filter D, Depth selection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>40</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT20F0</Name>
-                <BitSize>64</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Limit behavior</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Positioning method</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Inposition / Position deviation monitor</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Velocity window selection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>40</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>Diviation clear selection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>Torque attainment select</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>56</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT20F1</Name>
-                <BitSize>104</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Encoder clear fanction</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Incremental encoder, digital filter</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>External pulse encoder, digital filter</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>External pulse encoder polarity selection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>40</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>CS offset</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>CS counter offset</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>7</SubIdx>
-                  <Name>Linear encoder porality selection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>8</SubIdx>
-                  <Name>Extation command freq. setting value</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>88</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT20F2</Name>
-                <BitSize>56</BitSize>
-                <SubItem>
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-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Main power detection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Velocity control detection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Velocity feed back detection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Frame error filter</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>40</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>Comunication time out filter</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT20F3</Name>
-                <BitSize>32</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Model control characteristic</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Position loop encoder selection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT20F8</Name>
-                <BitSize>64</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Positive Over-Travel</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Negative Over-Travel</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>External error input</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Main powor forced discharge</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
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-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>Emergency stop</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>56</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>Magnetic pole position presumption</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT20F9</Name>
-                <BitSize>40</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Output1 function</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Output2 function</Name>
-                  <Type>USINT</Type>
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-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
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-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Output3 function</Name>
-                  <Type>USINT</Type>
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-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
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-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT20FD</Name>
-                <BitSize>40</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Main power input type</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Regenerative resistor selection</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Setup software, communication baud rate</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT20FF</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
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-                  <Type>UINT</Type>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Encode type</Name>
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-                  <BitSize>16</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
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-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>External encoder resolution</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2101</Name>
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-                <SubItem>
-                  <SubIdx>0</SubIdx>
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-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>Error 1</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Error 2</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>24</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Error 3</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Error 4</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>40</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2102</Name>
-                <BitSize>272</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>now monitor</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>1st latest</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>2nd latest</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>3rd latest</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>112</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>4th latest</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>144</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>5th latest</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>176</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>7</SubIdx>
-                  <Name>6th latest</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>208</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>8</SubIdx>
-                  <Name>7th latest</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>240</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2103</Name>
-                <BitSize>48</BitSize>
-                <SubItem>
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-                  <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>
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-                  <Name>Warning monitor</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
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-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
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-                  <Type>UINT</Type>
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-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2104</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                  </Flags>
-                </SubItem>
-                <SubItem>
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-                  <Name>Actual Kp</Name>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Actual Tpi</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>32</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>Actual Kvp</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>4</SubIdx>
-                  <Name>Actual Tvi</Name>
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-                  <BitOffs>64</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>5</SubIdx>
-                  <Name>Actual Jrat</Name>
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-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>6</SubIdx>
-                  <Name>Actual Tcfil</Name>
-                  <Type>UINT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>96</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>7</SubIdx>
-                  <Name>Actual MKm</Name>
-                  <Type>UINT</Type>
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-                  <BitOffs>112</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT2108</Name>
-                <BitSize>48</BitSize>
-                <SubItem>
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-                  <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>
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-                  <Name>Motor operation rate</Name>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
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-                  <Flags>
-                    <Access>rw</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
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-                <BitSize>112</BitSize>
-                <SubItem>
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-                  <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>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>2nd latest</Name>
-                  <Type>DINT</Type>
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-                  <BitOffs>48</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>3</SubIdx>
-                  <Name>3rd latest</Name>
-                  <Type>DINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
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-                <SubItem>
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-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
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-                    <Category>o</Category>
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-                <SubItem>
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-                  <Type>INT</Type>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
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-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
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-                  <Name>2nd latest</Name>
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-                  <BitOffs>32</BitOffs>
-                  <Flags>
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-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
-                  </Flags>
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-                <SubItem>
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-                  <BitOffs>48</BitOffs>
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-                    <Category>o</Category>
-                    <PdoMapping>RT</PdoMapping>
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-              <DataType>
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-                <SubItem>
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-                  <Name>largest sub-index supported</Name>
-                  <Type>USINT</Type>
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-                  <BitOffs>0</BitOffs>
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-                <SubItem>
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-                  <BitOffs>16</BitOffs>
-                  <Flags>
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-                    <Category>o</Category>
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-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
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-              <DataType>
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-                <SubItem>
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-                  <Type>USINT</Type>
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-                  <BitOffs>0</BitOffs>
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-                    <Category>o</Category>
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-                <SubItem>
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-                  <Flags>
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-                <SubItem>
-                  <SubIdx>2</SubIdx>
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-                    <Category>o</Category>
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-              <DataType>
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-                  <Name>largest sub-index supported</Name>
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-                </SubItem>
-                <SubItem>
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-                  <Name>Speed during search for switch</Name>
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-                  <SubItem>
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-                  <SubItem>
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-                  <SubItem>
-                    <Name>RxPDO state</Name>
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-                  <SubItem>
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-                  <SubItem>
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-                <Index>#x1502</Index>
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-                  <SubItem>
-                    <Name>RxPDO state</Name>
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-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>08</DefaultData>
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-                  <SubItem>
-                    <Name>SyncManager0 communication type</Name>
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-                      <DefaultData>01</DefaultData>
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-                  <SubItem>
-                    <Name>SyncManager1 communication type</Name>
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-                      <DefaultData>02</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>SyncManager2 communication type</Name>
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-                      <DefaultData>03</DefaultData>
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-                  <SubItem>
-                    <Name>SyncManager3 communication type</Name>
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-                      <DefaultData>04</DefaultData>
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-                  <SubItem>
-                    <Name>SyncManager4 communication type</Name>
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-                  <SubItem>
-                    <Name>SyncManager5 communication type</Name>
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-                      <DefaultData>00</DefaultData>
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-                  <SubItem>
-                    <Name>SyncManager6 communication type</Name>
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-                  <SubItem>
-                    <Name>SyncManager7 communication type</Name>
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-                      <DefaultData>00</DefaultData>
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-                  <Access>ro</Access>
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-              <Object>
-                <Index>#x1c10</Index>
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-                    <Name>largest sub-index supported</Name>
-                    <Info>
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-              <Object>
-                <Index>#x1c11</Index>
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-                    <Name>largest sub-index supported</Name>
-                    <Info>
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-                  <Access>ro</Access>
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-                    <Name>largest sub-index supported</Name>
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-                  <SubItem>
-                    <Name>Assign1</Name>
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-                    <Name>Assign2</Name>
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-                  <SubItem>
-                    <Name>Assign3</Name>
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-                    <Name>Assign4</Name>
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-                <Index>#x1c13</Index>
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-                    <Name>Assign2</Name>
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-                    <Name>Assign3</Name>
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-                    <Name>Assign4</Name>
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-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
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-                  <SubItem>
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-                  <SubItem>
-                    <Name>Cycle time</Name>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Shift time</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Sync modes supported</Name>
-                    <Info>
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-                  <SubItem>
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-                  <SubItem>
-                    <Name>Calc and copy time</Name>
-                    <Info>
-                      <DefaultData>400D0300</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Command</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
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-                  <SubItem>
-                    <Name>Delay time</Name>
-                    <Info>
-                      <DefaultData>30750000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Cycle time too small</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>SM event missed</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Shift too short counter</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Sync error</Name>
-                    <Info>
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-                  <Access>rw</Access>
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-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>32</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Sync mode</Name>
-                    <Info>
-                      <DefaultData>0200</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Cycle time</Name>
-                    <Info>
-                      <DefaultData>20A10700</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Shift time</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Sync modes supported</Name>
-                    <Info>
-                      <DefaultData>0740</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Minimum cycle time</Name>
-                    <Info>
-                      <DefaultData>20A10700</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Calc and copy time</Name>
-                    <Info>
-                      <DefaultData>24F40000</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Command</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Delay time</Name>
-                    <Info>
-                      <DefaultData>30750000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Cycle time too small</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>SM event missed</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Shift too short counter</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Sync error</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
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-                <Index>#x2000</Index>
-                <Name>Control word 1</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
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-              </Object>
-              <Object>
-                <Index>#x2001</Index>
-                <Name>Parameter select</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
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-              </Object>
-              <Object>
-                <Index>#x2002</Index>
-                <Name>Auto tuning parameter</Name>
-                <Type>DT2002</Type>
-                <BitSize>40</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tuning mode</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tuning feature</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tuning performance</Name>
-                    <Info>
-                      <DefaultData>0a</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2003</Index>
-                <Name>Position command smoothing time constant</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2004</Index>
-                <Name>Position command filter time constant</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2005</Index>
-                <Name>Position loop proportional gain</Name>
-                <Type>DT2005</Type>
-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Kp1</Name>
-                    <Info>
-                      <DefaultData>1E00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Kp2</Name>
-                    <Info>
-                      <DefaultData>1E00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Kp3</Name>
-                    <Info>
-                      <DefaultData>1E00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Kp4</Name>
-                    <Info>
-                      <DefaultData>1E00</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2006</Index>
-                <Name>Position loop integral time constant</Name>
-                <Type>DT2006</Type>
-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tpi1</Name>
-                    <Info>
-                      <DefaultData>1027</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tpi2</Name>
-                    <Info>
-                      <DefaultData>1027</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tpi3</Name>
-                    <Info>
-                      <DefaultData>1027</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tpi4</Name>
-                    <Info>
-                      <DefaultData>1027</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2007</Index>
-                <Name>Higher tracking control, Position Compensation gain</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2008</Index>
-                <Name>Feed forward parameter</Name>
-                <Type>DT2008</Type>
-                <BitSize>48</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>02</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Feed forward gain</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Feed forward filter</Name>
-                    <Info>
-                      <DefaultData>A00F</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
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-                <Index>#x2009</Index>
-                <Name>Verocity command filter</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>D007</DefaultData>
-                </Info>
-                <Flags>
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-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x200a</Index>
-                <Name>Verocity feedback filter</Name>
-                <Type>UINT</Type>
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-                <Info>
-                  <DefaultData>DC05</DefaultData>
-                </Info>
-                <Flags>
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-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x200b</Index>
-                <Name>Verocity loop proportional gain</Name>
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-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
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-                    <Info>
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-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Kvp1</Name>
-                    <Info>
-                      <DefaultData>3200</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Kvp2</Name>
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-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Kvp3</Name>
-                    <Info>
-                      <DefaultData>3200</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Kvp4</Name>
-                    <Info>
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-                    </Info>
-                  </SubItem>
-                </Info>
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-              </Object>
-              <Object>
-                <Index>#x200c</Index>
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-                <Info>
-                  <SubItem>
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-                    <Info>
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-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tvi1</Name>
-                    <Info>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Tvi2</Name>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Tvi4</Name>
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-                  </SubItem>
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-              <Object>
-                <Index>#x200d</Index>
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-                    <Info>
-                      <DefaultData>01</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Jrat1</Name>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Jrat2</Name>
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-                  </SubItem>
-                  <SubItem>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Jrat4</Name>
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-                <Index>#x200e</Index>
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-                <Info>
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-                <Flags>
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-                <Index>#x200f</Index>
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-                  <SubItem>
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-                    <Info>
-                      <DefaultData>02</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Acceleration feedback Gain</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Acceleration feedback filter</Name>
-                    <Info>
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-                  </SubItem>
-                </Info>
-                <Flags>
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-                  <Category>o</Category>
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-                <Index>#x2011</Index>
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-                  <SubItem>
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-                    <Info>
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-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tcfil1</Name>
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-                      <DefaultData>5802</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Tcfil2</Name>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Tcfil3</Name>
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-                      <DefaultData>5802</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tcfil4</Name>
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-                      <DefaultData>5802</DefaultData>
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-                  </SubItem>
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-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2012</Index>
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-                <Type>DT2012</Type>
-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
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-                    <Info>
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-                    </Info>
-                  </SubItem>
-                  <SubItem>
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-                    <Info>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Supfrq2</Name>
-                    <Info>
-                      <DefaultData>F401</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Supfrq3</Name>
-                    <Info>
-                      <DefaultData>F401</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Supfrq4</Name>
-                    <Info>
-                      <DefaultData>F401</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2013</Index>
-                <Name>Velocity command, Notch filter</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>E803</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2014</Index>
-                <Name>Torque command, Notch filter</Name>
-                <Type>DT2014</Type>
-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tcnfil A</Name>
-                    <Info>
-                      <DefaultData>A00F</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tcnfil B</Name>
-                    <Info>
-                      <DefaultData>A00F</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tcnfil C</Name>
-                    <Info>
-                      <DefaultData>A00F</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Tcnfil D</Name>
-                    <Info>
-                      <DefaultData>A00F</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2015</Index>
-                <Name>High setting</Name>
-                <Type>DT2017</Type>
-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Acceleration compensation</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Deceleration compensation</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Velocity command, Low-pass filter</Name>
-                    <Info>
-                      <DefaultData>E803</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Velocity command threshold</Name>
-                    <Info>
-                      <DefaultData>1400</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2016</Index>
-                <Name>Observer parameter</Name>
-                <Type>DT2016</Type>
-                <BitSize>96</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>07</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Observer characteristic</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Compention gain</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Output filter</Name>
-                    <Info>
-                      <DefaultData>3200</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Notch filter</Name>
-                    <Info>
-                      <DefaultData>A00F</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Load inertia rasio</Name>
-                    <Info>
-                      <DefaultData>6400</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>loop proportional gain</Name>
-                    <Info>
-                      <DefaultData>2C01</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Load torque filter</Name>
-                    <Info>
-                      <DefaultData>3200</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2017</Index>
-                <Name>Model control Gain</Name>
-                <Type>DT2017</Type>
-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Km1</Name>
-                    <Info>
-                      <DefaultData>1E00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Km2</Name>
-                    <Info>
-                      <DefaultData>1E00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Km3</Name>
-                    <Info>
-                      <DefaultData>1E00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Km4</Name>
-                    <Info>
-                      <DefaultData>1E00</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2018</Index>
-                <Name>Overshooting control filter</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>DC05</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2019</Index>
-                <Name>Model Control Anti-resonance friquency</Name>
-                <Type>DT2019</Type>
-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Anrfrq1</Name>
-                    <Info>
-                      <DefaultData>2003</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Anrfrq2</Name>
-                    <Info>
-                      <DefaultData>2003</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Anrfrq3</Name>
-                    <Info>
-                      <DefaultData>2003</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Anrfrq4</Name>
-                    <Info>
-                      <DefaultData>2003</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x201a</Index>
-                <Name>Model Control resonance friquency</Name>
-                <Type>DT201A</Type>
-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Resfrq1</Name>
-                    <Info>
-                      <DefaultData>2003</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Resfrq2</Name>
-                    <Info>
-                      <DefaultData>2003</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Resfrq3</Name>
-                    <Info>
-                      <DefaultData>2003</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Resfrq4</Name>
-                    <Info>
-                      <DefaultData>2003</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x201b</Index>
-                <Name>Low pass filter of Gain Switching</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x201c</Index>
-                <Name>Internal velocity comannd limit</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>ffff</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x201d</Index>
-                <Name>Position command error 1 level</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>ffffffff</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x201e</Index>
-                <Name>Torque limit at Sequence operation</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>B004</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x201f</Index>
-                <Name>In position near range</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>F4010000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2020</Index>
-                <Name>Speed zero range</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>3200</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2021</Index>
-                <Name>Low speed range</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>3200</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2022</Index>
-                <Name>High speed range</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>E803</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2023</Index>
-                <Name>Analog monitor parameter</Name>
-                <Type>DT2023</Type>
-                <BitSize>40</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Analog monitor1</Name>
-                    <Info>
-                      <DefaultData>05</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Analog monitor2</Name>
-                    <Info>
-                      <DefaultData>02</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Analog monitor output polarity</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2024</Index>
-                <Name>Delay time of engaging holding brake</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>C201</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2025</Index>
-                <Name>Delay time of releasing holding brake</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>C201</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2026</Index>
-                <Name>Brake operation beginning time</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>1027</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2027</Index>
-                <Name>Power failure detection delay</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>2000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2028</Index>
-                <Name>Following error warning level</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>FFFFFF7F</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2029</Index>
-                <Name>Over load warning level</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>5A00</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x202a</Index>
-                <Name>Speed maching width</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>3200</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x202b</Index>
-                <Name>Torque command filter characteristic</Name>
-                <Type>USINT</Type>
-                <BitSize>8</BitSize>
-                <Info>
-                  <DefaultData>02</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x202c</Index>
-                <Name>Feed forward filter, Depth selection</Name>
-                <Type>USINT</Type>
-                <BitSize>8</BitSize>
-                <Info>
-                  <DefaultData>00</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x202d</Index>
-                <Name>Torque command, Notch filter feature</Name>
-                <Type>DT202D</Type>
-                <BitSize>48</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Filter A, Low friquency phase delay improvement</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Filter B, Depth selection</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Filter C, Depth selection</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Filter D, Depth selection</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x202e</Index>
-                <Name>Torque attainment setting</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>6400</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20f0</Index>
-                <Name>Amplifier fanction selection</Name>
-                <Type>DT20F0</Type>
-                <BitSize>56</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>06</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Limit behavior</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Positioning method</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Inposition / Position deviation monitor</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Velocity window selection</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Diviation clear selection</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Torque attainment select</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20f1</Index>
-                <Name>Sensor fanction selection</Name>
-                <Type>DT20F1</Type>
-                <BitSize>104</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>08</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Encoder clear fanction</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Incremental encoder, digital filter</Name>
-                    <Info>
-                      <DefaultData>01</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>External pulse encoder, digital filter</Name>
-                    <Info>
-                      <DefaultData>01</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>External pulse encoder polarity selection</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>CS offset</Name>
-                    <Info>
-                      <DefaultData>4A01</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>CS counter offset</Name>
-                    <Info>
-                      <DefaultData>4A01</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Linear encoder porality selection</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Extation command freq. setting value</Name>
-                    <Info>
-                      <DefaultData>3200</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20f2</Index>
-                <Name>Amplifier alarm detect selection</Name>
-                <Type>DT20F2</Type>
-                <BitSize>48</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Main power detection</Name>
-                    <Info>
-                      <DefaultData>01</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Velocity control detection</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Velocity feed back detection</Name>
-                    <Info>
-                      <DefaultData>01</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Frame error filter</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Comunication time out filter</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20f3</Index>
-                <Name>Position loop selection</Name>
-                <Type>DT20F3</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>02</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Model control characteristic</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Position loop encoder selection</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20f4</Index>
-                <Name>Servo loop delay time</Name>
-                <Type>USINT</Type>
-                <BitSize>8</BitSize>
-                <Info>
-                  <DefaultData>00</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20f5</Index>
-                <Name>Torque limit at power supply shortage</Name>
-                <Type>USINT</Type>
-                <BitSize>8</BitSize>
-                <Info>
-                  <DefaultData>00</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20f8</Index>
-                <Name>General purpose input setting</Name>
-                <Type>DT20F8</Type>
-                <BitSize>64</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>06</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Positive limit switch</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Negative limit switch</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>External error input</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Main powor forced discharge</Name>
-                    <Info>
-                      <DefaultData>01</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Emergency stop</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Magnetic pole position presumption</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20f9</Index>
-                <Name>General purpose output setting</Name>
-                <Type>DT20F9</Type>
-                <BitSize>40</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Output1 function</Name>
-                    <Info>
-                      <DefaultData>03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Output2 function</Name>
-                    <Info>
-                      <DefaultData>0C</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Output3 function</Name>
-                    <Info>
-                      <DefaultData>39</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20fa</Index>
-                <Name>Extend station alias</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20fd</Index>
-                <Name>Amplifier system selection</Name>
-                <Type>DT20FD</Type>
-                <BitSize>40</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Main power input type</Name>
-                    <Info>
-                      <DefaultData>03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Regenerative resistor selection</Name>
-                    <Info>
-                      <DefaultData>01</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Setup software, communication baud rate</Name>
-                    <Info>
-                      <DefaultData>03</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20fe</Index>
-                <Name>Combined motor code</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0100</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x20ff</Index>
-                <Name>Combined sensor</Name>
-                <Type>DT20FF</Type>
-                <BitSize>80</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Resolution setting</Name>
-                    <Info>
-                      <DefaultData>0600</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Encode type</Name>
-                    <Info>
-                      <DefaultData>0003</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>External encoder resolution</Name>
-                    <Info>
-                      <DefaultData>D0070000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2100</Index>
-                <Name>Status word 1</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2101</Index>
-                <Name>Slave error field</Name>
-                <Type>DT2101</Type>
-                <BitSize>48</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Error 1</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Error 2</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Error 3</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Error 4</Name>
-                    <Info>
-                      <DefaultData>00</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2102</Index>
-                <Name>Description of alarm trace</Name>
-                <Type>DT2102</Type>
-                <BitSize>272</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>08</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>now monitor</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>1st latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>2nd latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>3rd latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>4th latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>5th latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>6th latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>7th latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2103</Index>
-                <Name>Warning status</Name>
-                <Type>DT2103</Type>
-                <BitSize>48</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>02</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Warning monitor</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Warning mask</Name>
-                    <Info>
-                      <DefaultData>8D4C</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2104</Index>
-                <Name>Actual gein</Name>
-                <Type>DT2104</Type>
-                <BitSize>128</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>07</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Actual Kp</Name>
-                    <Info>
-                      <DefaultData>1E00</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Actual Kpi</Name>
-                    <Info>
-                      <DefaultData>1027</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Actual Kvp</Name>
-                    <Info>
-                      <DefaultData>3200</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Actual Tvi</Name>
-                    <Info>
-                      <DefaultData>C800</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Actual Jrat</Name>
-                    <Info>
-                      <DefaultData>6400</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Actual Tcfil</Name>
-                    <Info>
-                      <DefaultData>5802</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Actual Km</Name>
-                    <Info>
-                      <DefaultData>1E00</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2105</Index>
-                <Name>Zero phase signal base actual position value</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>00000000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2106</Index>
-                <Name>Internal velocity command monitor</Name>
-                <Type>DINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>00000000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2107</Index>
-                <Name>Internal torque command monitor</Name>
-                <Type>INT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2108</Index>
-                <Name>Motor operation rate monitor</Name>
-                <Type>DT2108</Type>
-                <BitSize>48</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>02</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Motor operation rate</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Predicted motor operating</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2109</Index>
-                <Name>Internal temperature monitor</Name>
-                <Type>INT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x210a</Index>
-                <Name>Regenerative resistor operation percentage</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x210c</Index>
-                <Name>Home index position detection value</Name>
-                <Type>DINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>00000000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2110</Index>
-                <Name>Internal control cycle position actual value</Name>
-                <Type>DT2110</Type>
-                <BitSize>112</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Position actual 0.125ms latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Position actual 0.25ms latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Position actual 0.375ms latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2111</Index>
-                <Name>Internal control cycle velocity actual value</Name>
-                <Type>DT2110</Type>
-                <BitSize>112</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Velocity actual 0.125ms latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Velocity actual 0.25ms latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Velocity actual 0.375s latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2112</Index>
-                <Name>Internal control cycle torque actual value</Name>
-                <Type>DT2112</Type>
-                <BitSize>64</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Torque actual 0.125ms latest </Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Torque actual 0.25ms latest </Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Torque actual 0.375ms latest </Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2113</Index>
-                <Name>Minimum comunication cycle position actual Value</Name>
-                <Type>DT2110</Type>
-                <BitSize>112</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Position actual 0.5ms latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Position actual 1ms latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Position actual 1.5ms latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2114</Index>
-                <Name>Minimum comunication cycle velocity actual value</Name>
-                <Type>DT2110</Type>
-                <BitSize>112</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>velocity actual 0.5ms latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>velocity actual 1ms latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>velocity actual 1.5ms latest</Name>
-                    <Info>
-                      <DefaultData>00000000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x2115</Index>
-                <Name>Minimum comunication cycle torque actual value</Name>
-                <Type>DT2112</Type>
-                <BitSize>64</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>04</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Torque actual 0.5ms latest</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Torque actual 1ms latest</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Torque actual 1.5ms latest</Name>
-                    <Info>
-                      <DefaultData>0000</DefaultData>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x6007</Index>
-                <Name>About connection option code</Name>
-                <Type>INT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0300</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x603f</Index>
-                <Name>Error code</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>m</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x6040</Index>
-                <Name>Control word</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>m</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x6041</Index>
-                <Name>Status word</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x605a</Index>
-                <Name>Quick stop option code</Name>
-                <Type>INT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0200</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x605b</Index>
-                <Name>Shutdown option code</Name>
-                <Type>INT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>ffff</DefaultData>
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-                <Flags>
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-                <Index>#x6071</Index>
-                <Name>Target torque</Name>
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-                <Index>#x6072</Index>
-                <Name>Max torque</Name>
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-                  <DefaultData>8813</DefaultData>
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-                <Index>#x6077</Index>
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-                <Index>#x607a</Index>
-                <Name>Target position</Name>
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-                  <DefaultData>00000000</DefaultData>
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-                <Index>#x607b</Index>
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-                      <DefaultData>00000080</DefaultData>
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-                  <SubItem>
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-                      <DefaultData>ffffff7f</DefaultData>
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-                <Index>#x607c</Index>
-                <Name>Home offset</Name>
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-                <Info>
-                  <DefaultData>00000000</DefaultData>
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-                <Index>#x607d</Index>
-                <Name>Software position limit</Name>
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-                    <Info>
-                      <DefaultData>02</DefaultData>
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-                  <SubItem>
-                    <Name>Minimum Software position limit</Name>
-                    <Info>
-                      <DefaultData>00000080</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Muximum Software position limit</Name>
-                    <Info>
-                      <DefaultData>ffffff7f</DefaultData>
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-              <Object>
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-                <Index>#x6083</Index>
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-                <Info>
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-                <Index>#x6084</Index>
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-                <Index>#x6085</Index>
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-                <Info>
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-                <Index>#x6098</Index>
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-                <Info>
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-                <Index>#x6099</Index>
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-                    <Info>
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-                  </SubItem>
-                  <SubItem>
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-                    <Info>
-                      <DefaultData>55550300</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Speed during search for zero</Name>
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-                      <DefaultData>88080000</DefaultData>
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-                  </SubItem>
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-                <Index>#x609a</Index>
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-                <Info>
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-                <Info>
-                  <DefaultData>00000000</DefaultData>
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-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
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-                <Index>#x60b1</Index>
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-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
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-                <Flags>
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-                <Index>#x60b8</Index>
-                <Name>Touch probe function</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x60b9</Index>
-                <Name>Touch probe status</Name>
-                <Type>UINT</Type>
-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
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-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
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-              </Object>
-              <Object>
-                <Index>#x60ba</Index>
-                <Name>Touch probe position 1 positive value</Name>
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-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
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-              </Object>
-              <Object>
-                <Index>#x60bb</Index>
-                <Name>Touch probe position 1 negative value</Name>
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-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
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-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
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-              </Object>
-              <Object>
-                <Index>#x60bc</Index>
-                <Name>Touch probe position 2 positive value</Name>
-                <Type>DINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
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-              </Object>
-              <Object>
-                <Index>#x60bd</Index>
-                <Name>Touch probe position 2 negative value</Name>
-                <Type>DINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultData>0000</DefaultData>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
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-              </Object>
-              <Object>
-                <Index>#x60c2</Index>
-                <Name>Interpolation time period</Name>
-                <Type>DT60C2</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <SubItem>
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-                    <Info>
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-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Interpolation time period value</Name>
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-                      <DefaultData>05</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>Interpolation time index</Name>
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-                <Flags>
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-                  <Category>o</Category>
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-              <Object>
-                <Index>#x60e0</Index>
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-                <BitSize>16</BitSize>
-                <Info>
-                  <DefaultData>E803</DefaultData>
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-                <Flags>
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-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
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-              <Object>
-                <Index>#x60e1</Index>
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-                <Info>
-                  <DefaultData>E803</DefaultData>
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-                <Flags>
-                  <Access>rw</Access>
-                  <Category>o</Category>
-                  <PdoMapping>RT</PdoMapping>
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-              </Object>
-              <Object>
-                <Index>#x60e3</Index>
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-                <Info>
-                  <SubItem>
-                    <Name>largest sub-index supported</Name>
-                    <Info>
-                      <DefaultData>17</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>1st supported homing method</Name>
-                    <Info>
-                      <DefaultData>0103</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>2nd supported homing method</Name>
-                    <Info>
-                      <DefaultData>0203</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>3rd supported homing method</Name>
-                    <Info>
-                      <DefaultData>0303</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>4th supported homing method</Name>
-                    <Info>
-                      <DefaultData>0403</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>5th supported homing method</Name>
-                    <Info>
-                      <DefaultData>0503</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>6th supported homing method</Name>
-                    <Info>
-                      <DefaultData>0603</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>7th supported homing method</Name>
-                    <Info>
-                      <DefaultData>0703</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>8th supported homing method</Name>
-                    <Info>
-                      <DefaultData>0803</DefaultData>
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-                  </SubItem>
-                  <SubItem>
-                    <Name>9th supported homing method</Name>
-                    <Info>
-                      <DefaultData>0903</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>10th supported homing method</Name>
-                    <Info>
-                      <DefaultData>0a03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>11th supported homing method</Name>
-                    <Info>
-                      <DefaultData>0b03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>12th supported homing method</Name>
-                    <Info>
-                      <DefaultData>0c03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>13th supported homing method</Name>
-                    <Info>
-                      <DefaultData>0d03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>14th supported homing method</Name>
-                    <Info>
-                      <DefaultData>0e03</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>15th supported homing method</Name>
-                    <Info>
-                      <DefaultData>1103</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>16th supported homing method</Name>
-                    <Info>
-                      <DefaultData>1203</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>17th supported homing method</Name>
-                    <Info>
-                      <DefaultData>1303</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>18th supported homing method</Name>
-                    <Info>
-                      <DefaultData>1403</DefaultData>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>19th supported homing method</Name>
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-            <BitLen>32</BitLen>
-            <Name>Following error window</Name>
-            <DataType>UDINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2012</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Vibration Suppressor Friquency 1</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2017</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Model control Gain 1</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2019</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Model Control Anti-resonance friquency 1</Name>
-            <DataType>UIN</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x201a</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Model Control resonance friquency 1</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60fe</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Digital output</Name>
-            <DataType>UDINT</DataType>
-          </Entry>
-        </RxPdo>
-        <TxPdo Fixed="1">
-          <Index>#x1a00</Index>
-          <Name>Inputs</Name>
-          <Exclude>#x1a01</Exclude>
-          <Exclude>#x1a02</Exclude>
-          <Exclude>#x1a03</Exclude>
-          <Exclude>#x1b00</Exclude>
-          <Exclude>#x1b01</Exclude>
-          <Exclude>#x1b02</Exclude>
-          <Exclude>#x1b03</Exclude>
-          <Entry>
-            <Index>#x6041</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Statusword</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-        </TxPdo>
-        <TxPdo Fixed="1">
-          <Index>#x1a01</Index>
-          <Name>Inputs</Name>
-          <Exclude>#x1a00</Exclude>
-          <Exclude>#x1a02</Exclude>
-          <Exclude>#x1a03</Exclude>
-          <Exclude>#x1b00</Exclude>
-          <Exclude>#x1b01</Exclude>
-          <Exclude>#x1b02</Exclude>
-          <Exclude>#x1b03</Exclude>
-        </TxPdo>
-        <TxPdo Fixed="1">
-          <Index>#x1a02</Index>
-          <Name>Inputs</Name>
-          <Exclude>#x1a00</Exclude>
-          <Exclude>#x1a01</Exclude>
-          <Exclude>#x1a03</Exclude>
-          <Exclude>#x1b00</Exclude>
-          <Exclude>#x1b01</Exclude>
-          <Exclude>#x1b02</Exclude>
-          <Exclude>#x1b03</Exclude>
-        </TxPdo>
-        <TxPdo Fixed="1">
-          <Index>#x1a03</Index>
-          <Name>Inputs</Name>
-          <Exclude>#x1a00</Exclude>
-          <Exclude>#x1a01</Exclude>
-          <Exclude>#x1a02</Exclude>
-          <Exclude>#x1b00</Exclude>
-          <Exclude>#x1b01</Exclude>
-          <Exclude>#x1b02</Exclude>
-          <Exclude>#x1b03</Exclude>
-        </TxPdo>
-        <TxPdo Mandatory="1" Sm="3">
-          <Index>#x1b00</Index>
-          <Name>Inputs</Name>
-          <Exclude>#x1a00</Exclude>
-          <Exclude>#x1a01</Exclude>
-          <Exclude>#x1a02</Exclude>
-          <Exclude>#x1a03</Exclude>
-          <Exclude>#x1b01</Exclude>
-          <Exclude>#x1b02</Exclude>
-          <Exclude>#x1b03</Exclude>
-          <Entry>
-            <Index>#x6041</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Status word</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2100</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Status word 1</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6064</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Position actual value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x606c</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Velocity actual value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6077</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Torque actual value</Name>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60f4</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Following error actualvalue</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60b9</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Touch probe status</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60ba</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Touch probe position 1 positive value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60bb</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Touch probe position 1 negative value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60fd</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Digital input</Name>
-            <DataType>UDINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x1001</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Error register</Name>
-            <DataType>USINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6061</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Modes of operation display</Name>
-            <DataType>SINT</DataType>
-          </Entry>
-        </TxPdo>
-        <TxPdo Fixed="1">
-          <Index>#x1b01</Index>
-          <Name>Inputs</Name>
-          <Exclude>#x1a00</Exclude>
-          <Exclude>#x1a01</Exclude>
-          <Exclude>#x1a02</Exclude>
-          <Exclude>#x1a03</Exclude>
-          <Exclude>#x1b00</Exclude>
-          <Exclude>#x1b02</Exclude>
-          <Exclude>#x1b03</Exclude>
-          <Entry>
-            <Index>#x6041</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Status word</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2100</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Status Word 1</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6061</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Modes of operation display</Name>
-            <DataType>SINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x1001</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Error register</Name>
-            <DataType>USINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2103</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Warning status</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6064</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Position actual value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x606c</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Velocity actual value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6077</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Torque actual value</Name>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60f4</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Following error actualvalue</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2101</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Slave error field 1</Name>
-            <DataType>USINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2101</Index>
-            <SubIndex>2</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Slave error field 2</Name>
-            <DataType>USINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Kp</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>2</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Kpi</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>3</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Kvp</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>4</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Tvi</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>5</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Jrat</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>6</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Tcfil</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2108</Index>
-            <SubIndex>2</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Predicted motor operating</Name>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2109</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Internal temperature monitor</Name>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x210a</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Regenerative resistor operation percentage</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60fd</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Digital input</Name>
-            <DataType>UDINT</DataType>
-          </Entry>
-        </TxPdo>
-        <TxPdo Fixed="1">
-          <Index>#x1b02</Index>
-          <Name>Inputs</Name>
-          <Exclude>#x1a00</Exclude>
-          <Exclude>#x1a01</Exclude>
-          <Exclude>#x1a02</Exclude>
-          <Exclude>#x1a03</Exclude>
-          <Exclude>#x1b00</Exclude>
-          <Exclude>#x1b01</Exclude>
-          <Exclude>#x1b03</Exclude>
-          <Entry>
-            <Index>#x6041</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Status word</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2100</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Status Word 1</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60b9</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Touch probe status</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6061</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Modes of operation display</Name>
-            <DataType>SINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x1001</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Error register</Name>
-            <DataType>USINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6063</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Internal position actualvalue</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x210c</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Home index position detection value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6064</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Position actual value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x606c</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Velocity actual value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6077</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Torque actual value</Name>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60f4</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Following error actualvalue</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60ba</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Touch probe position 1 positive value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60bb</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Touch probe position 1 negative value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60bc</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Touch probe position 2 positive value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60bd</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Touch probe position 2 negative value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60fd</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Digital input</Name>
-            <DataType>UDINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Kp</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>2</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Kpi</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>3</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Kvp</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>4</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Tvi</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>5</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Jrat</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>6</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Tcfil</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2108</Index>
-            <SubIndex>2</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Predicted motor operating</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2109</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Internal temperature monitor</Name>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x210a</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Regenerative resistor operation percentage</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-        </TxPdo>
-        <TxPdo Fixed="1">
-          <Index>#x1b03</Index>
-          <Name>Inputs</Name>
-          <Exclude>#x1a00</Exclude>
-          <Exclude>#x1a01</Exclude>
-          <Exclude>#x1a02</Exclude>
-          <Exclude>#x1a03</Exclude>
-          <Exclude>#x1b00</Exclude>
-          <Exclude>#x1b01</Exclude>
-          <Exclude>#x1b02</Exclude>
-          <Entry>
-            <Index>#x6041</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Status word</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2100</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Status Word 1</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6061</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Modes of operation display</Name>
-            <DataType>SINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x1001</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Error register</Name>
-            <DataType>USINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2103</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Warning status</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6064</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Position actual value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x606c</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Velocity actual value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6077</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Torque actual value</Name>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60f4</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Following error actualvalue</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x6063</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Internal position actualvalue</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60fd</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Digital input</Name>
-            <DataType>UDINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x60fe</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Digital output</Name>
-            <DataType>UDINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2101</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Slave error field 1</Name>
-            <DataType>USINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2101</Index>
-            <SubIndex>2</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Slave error field 2</Name>
-            <DataType>USINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2101</Index>
-            <SubIndex>3</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Slave error field 3</Name>
-            <DataType>USINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2101</Index>
-            <SubIndex>4</SubIndex>
-            <BitLen>8</BitLen>
-            <Name>Slave error field 4</Name>
-            <DataType>USINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Kp</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>2</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Kpi</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>3</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Kvp</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>4</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Tvi</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>5</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Jrat</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>6</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Tcfil</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2104</Index>
-            <SubIndex>7</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Actual Km</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2105</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Zero phase signal base actual position value</Name>
-            <DataType>UDINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2106</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Internal velocity command monitor</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2107</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Internal torque command monitor</Name>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2108</Index>
-            <SubIndex>1</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Motor operation rate</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2108</Index>
-            <SubIndex>2</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Predicted motor operating</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x2109</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Internal temperature monitor</Name>
-            <DataType>INT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x210a</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>Regenerative resistor operation percentage</Name>
-            <DataType>UINT</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x210c</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>Home index position detection value</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-        </TxPdo>
-        <Mailbox>
-          <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SdoInfo="true">
-            <InitCmd>
-              <Transition>PS</Transition>
-              <Index>#x6060</Index>
-              <SubIndex>0</SubIndex>
-              <Data>08</Data>
-              <Comment>Modes of operations</Comment>
-            </InitCmd>
-          </CoE>
-          <FoE></FoE>
-        </Mailbox>
-        <Dc UnknownFRMW="1">
-          <OpMode>
-            <Name>Dc Synchron</Name>
-            <Desc>Synchron with SYNC0 Event</Desc>
-            <AssignActivate>#x0300</AssignActivate>
-            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
-            <ShiftTimeSync0>0</ShiftTimeSync0>
-            <Sm No="2">
-              <SyncType>2</SyncType>
-              <CycleTime Factor="1">0</CycleTime>
-              <ShiftTime MinAfterSync="0">0</ShiftTime>
-            </Sm>
-            <Sm No="3">
-              <SyncType>2</SyncType>
-              <CycleTime Factor="1">0</CycleTime>
-              <ShiftTime MinBeforeFrame="100">0</ShiftTime>
-            </Sm>
-          </OpMode>
-          <OpMode>
-            <Name>Synchron</Name>
-            <Desc>Synchron with SM2 Event</Desc>
-            <AssignActivate>#x0000</AssignActivate>
-            <Sm No="2">
-              <SyncType>1</SyncType>
-              <CycleTime Factor="1">0</CycleTime>
-              <ShiftTime MinAfterSync="100">100</ShiftTime>
-            </Sm>
-            <Sm No="3">
-              <SyncType>34</SyncType>
-              <CycleTime Factor="1">0</CycleTime>
-              <ShiftTime MinBeforeFrame="100">0</ShiftTime>
-            </Sm>
-          </OpMode>
-        </Dc>
-        <Eeprom>
-          <ByteSize>4096</ByteSize>
-          <ConfigData>080C00CC6400</ConfigData>
-          <BootStrap>00180002001C0002</BootStrap>
-        </Eeprom>
-      </Device>
-    </Devices>
-  </Descriptions>
-</EtherCATInfo>
\ No newline at end of file
diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/plc.xml
--- a/tests/ethercat/wago_sanyo/plc.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,433 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project xmlns="http://www.plcopen.org/xml/tc6.xsd"
-         xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd"
-         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-         xmlns:xhtml="http://www.w3.org/1999/xhtml">
-  <fileHeader companyName="Laurent BESSARD"
-              productName="test_ethercat"
-              productVersion="1.0"
-              creationDateTime="2011-10-20T19:01:52"/>
-  <contentHeader name="test_ethercat"
-                 modificationDateTime="2012-05-20T19:26:53">
-    <coordinateInfo>
-      <fbd>
-        <scaling x="0" y="0"/>
-      </fbd>
-      <ld>
-        <scaling x="0" y="0"/>
-      </ld>
-      <sfc>
-        <scaling x="0" y="0"/>
-      </sfc>
-    </coordinateInfo>
-  </contentHeader>
-  <types>
-    <dataTypes/>
-    <pous>
-      <pou name="Prog" pouType="program">
-        <interface>
-          <localVars>
-            <variable name="CLOCK" address="%QX0.0.2.28672.1">
-              <type>
-                <BOOL/>
-              </type>
-            </variable>
-            <variable name="GREENLED" address="%QX0.0.2.28688.1">
-              <type>
-                <BOOL/>
-              </type>
-              <initialValue>
-                <simpleValue value="TRUE"/>
-              </initialValue>
-            </variable>
-            <variable name="ControlWord" address="%QW0.0.3.24640.0">
-              <type>
-                <UINT/>
-              </type>
-            </variable>
-            <variable name="StatusWord" address="%IW0.0.3.24641.0">
-              <type>
-                <UINT/>
-              </type>
-            </variable>
-            <variable name="ErrorCode" address="%IW0.0.3.24639.0">
-              <type>
-                <UINT/>
-              </type>
-            </variable>
-            <variable name="ModeDisplay" address="%IB0.0.3.24673.0">
-              <type>
-                <SINT/>
-              </type>
-            </variable>
-            <variable name="ActualPosition" address="%ID0.0.3.24676.0">
-              <type>
-                <DINT/>
-              </type>
-            </variable>
-            <variable name="TargetPosition" address="%QD0.0.3.24698.0">
-              <type>
-                <DINT/>
-              </type>
-            </variable>
-          </localVars>
-        </interface>
-        <body>
-          <ST>
-<![CDATA[CLOCK := NOT CLOCK;]]>
-          </ST>
-        </body>
-      </pou>
-      <pou name="test_MCL" pouType="program">
-        <interface>
-          <localVars>
-            <variable name="CLOCK">
-              <type>
-                <UDINT/>
-              </type>
-            </variable>
-          </localVars>
-          <localVars>
-            <variable name="Axis" address="%IW0.0.3.0">
-              <type>
-                <INT/>
-              </type>
-            </variable>
-          </localVars>
-          <localVars>
-            <variable name="switch">
-              <type>
-                <derived name="MC_Power"/>
-              </type>
-            </variable>
-            <variable name="move1">
-              <type>
-                <derived name="MC_MoveAbsolute"/>
-              </type>
-            </variable>
-          </localVars>
-        </interface>
-        <body>
-          <FBD>
-            <inVariable localId="1" height="27" width="53">
-              <position x="45" y="36"/>
-              <connectionPointOut>
-                <relPosition x="53" y="13"/>
-              </connectionPointOut>
-              <expression>CLOCK</expression>
-            </inVariable>
-            <block localId="2" width="111" height="116" typeName="ADD">
-              <position x="149" y="5"/>
-              <inputVariables>
-                <variable formalParameter="IN1">
-                  <connectionPointIn>
-                    <relPosition x="0" y="44"/>
-                    <connection refLocalId="1">
-                      <position x="149" y="49"/>
-                      <position x="98" y="49"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="IN2">
-                  <connectionPointIn>
-                    <relPosition x="0" y="92"/>
-                    <connection refLocalId="3">
-                      <position x="149" y="97"/>
-                      <position x="98" y="97"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-              </inputVariables>
-              <inOutVariables/>
-              <outputVariables>
-                <variable formalParameter="OUT">
-                  <connectionPointOut>
-                    <relPosition x="111" y="44"/>
-                  </connectionPointOut>
-                </variable>
-              </outputVariables>
-            </block>
-            <inVariable localId="3" height="27" width="18">
-              <position x="80" y="84"/>
-              <connectionPointOut>
-                <relPosition x="18" y="13"/>
-              </connectionPointOut>
-              <expression>1</expression>
-            </inVariable>
-            <outVariable localId="4" height="27" width="53">
-              <position x="302" y="36"/>
-              <connectionPointIn>
-                <relPosition x="0" y="13"/>
-                <connection refLocalId="2" formalParameter="OUT">
-                  <position x="302" y="49"/>
-                  <position x="260" y="49"/>
-                </connection>
-              </connectionPointIn>
-              <expression>CLOCK</expression>
-            </outVariable>
-            <inVariable localId="5" height="27" width="53">
-              <position x="46" y="234"/>
-              <connectionPointOut>
-                <relPosition x="53" y="13"/>
-              </connectionPointOut>
-              <expression>CLOCK</expression>
-            </inVariable>
-            <inVariable localId="6" height="27" width="50">
-              <position x="49" y="268"/>
-              <connectionPointOut>
-                <relPosition x="50" y="13"/>
-              </connectionPointOut>
-              <expression>4000</expression>
-            </inVariable>
-            <block localId="7" width="99" height="89" typeName="GT">
-              <position x="155" y="210"/>
-              <inputVariables>
-                <variable formalParameter="IN1">
-                  <connectionPointIn>
-                    <relPosition x="0" y="37"/>
-                    <connection refLocalId="5">
-                      <position x="155" y="247"/>
-                      <position x="99" y="247"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="IN2">
-                  <connectionPointIn>
-                    <relPosition x="0" y="71"/>
-                    <connection refLocalId="6">
-                      <position x="155" y="281"/>
-                      <position x="99" y="281"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-              </inputVariables>
-              <inOutVariables/>
-              <outputVariables>
-                <variable formalParameter="OUT">
-                  <connectionPointOut>
-                    <relPosition x="99" y="37"/>
-                  </connectionPointOut>
-                </variable>
-              </outputVariables>
-            </block>
-            <block localId="8" width="159" height="204" typeName="MC_Power" instanceName="switch">
-              <position x="398" y="173"/>
-              <inputVariables>
-                <variable formalParameter="Axis">
-                  <connectionPointIn>
-                    <relPosition x="0" y="38"/>
-                    <connection refLocalId="9">
-                      <position x="398" y="211"/>
-                      <position x="344" y="211"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="Enable">
-                  <connectionPointIn>
-                    <relPosition x="0" y="74"/>
-                    <connection refLocalId="7" formalParameter="OUT">
-                      <position x="398" y="247"/>
-                      <position x="254" y="247"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="EnablePositive">
-                  <connectionPointIn>
-                    <relPosition x="0" y="110"/>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="EnableNegative">
-                  <connectionPointIn>
-                    <relPosition x="0" y="146"/>
-                  </connectionPointIn>
-                </variable>
-              </inputVariables>
-              <inOutVariables/>
-              <outputVariables>
-                <variable formalParameter="Axis">
-                  <connectionPointOut>
-                    <relPosition x="159" y="38"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="Status">
-                  <connectionPointOut>
-                    <relPosition x="159" y="74"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="Valid">
-                  <connectionPointOut>
-                    <relPosition x="159" y="110"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="Error">
-                  <connectionPointOut>
-                    <relPosition x="159" y="146"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="ErrorID">
-                  <connectionPointOut>
-                    <relPosition x="159" y="182"/>
-                  </connectionPointOut>
-                </variable>
-              </outputVariables>
-            </block>
-            <inVariable localId="9" height="27" width="36">
-              <position x="308" y="198"/>
-              <connectionPointOut>
-                <relPosition x="36" y="13"/>
-              </connectionPointOut>
-              <expression>Axis</expression>
-            </inVariable>
-            <block localId="10" width="252" height="389" typeName="MC_MoveAbsolute" instanceName="move1">
-              <position x="744" y="173"/>
-              <inputVariables>
-                <variable formalParameter="Axis">
-                  <connectionPointIn>
-                    <relPosition x="0" y="38"/>
-                    <connection refLocalId="8" formalParameter="Axis">
-                      <position x="744" y="211"/>
-                      <position x="557" y="211"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="Execute">
-                  <connectionPointIn>
-                    <relPosition x="0" y="74"/>
-                    <connection refLocalId="8" formalParameter="Status">
-                      <position x="744" y="247"/>
-                      <position x="557" y="247"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="ContinuousUpdate">
-                  <connectionPointIn>
-                    <relPosition x="0" y="110"/>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="Position">
-                  <connectionPointIn>
-                    <relPosition x="0" y="146"/>
-                    <connection refLocalId="11">
-                      <position x="744" y="319"/>
-                      <position x="672" y="319"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="Velocity">
-                  <connectionPointIn>
-                    <relPosition x="0" y="182"/>
-                    <connection refLocalId="12">
-                      <position x="744" y="355"/>
-                      <position x="671" y="355"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="Acceleration">
-                  <connectionPointIn>
-                    <relPosition x="0" y="218"/>
-                    <connection refLocalId="12">
-                      <position x="744" y="391"/>
-                      <position x="707" y="391"/>
-                      <position x="707" y="355"/>
-                      <position x="671" y="355"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="Deceleration">
-                  <connectionPointIn>
-                    <relPosition x="0" y="254"/>
-                    <connection refLocalId="12">
-                      <position x="744" y="427"/>
-                      <position x="707" y="427"/>
-                      <position x="707" y="355"/>
-                      <position x="671" y="355"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="Jerk">
-                  <connectionPointIn>
-                    <relPosition x="0" y="290"/>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="Direction">
-                  <connectionPointIn>
-                    <relPosition x="0" y="326"/>
-                  </connectionPointIn>
-                </variable>
-                <variable formalParameter="BufferMode">
-                  <connectionPointIn>
-                    <relPosition x="0" y="362"/>
-                  </connectionPointIn>
-                </variable>
-              </inputVariables>
-              <inOutVariables/>
-              <outputVariables>
-                <variable formalParameter="Axis">
-                  <connectionPointOut>
-                    <relPosition x="252" y="38"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="Done">
-                  <connectionPointOut>
-                    <relPosition x="252" y="74"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="Busy">
-                  <connectionPointOut>
-                    <relPosition x="252" y="110"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="Active">
-                  <connectionPointOut>
-                    <relPosition x="252" y="146"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="CommandAborted">
-                  <connectionPointOut>
-                    <relPosition x="252" y="182"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="Error">
-                  <connectionPointOut>
-                    <relPosition x="252" y="218"/>
-                  </connectionPointOut>
-                </variable>
-                <variable formalParameter="ErrorID">
-                  <connectionPointOut>
-                    <relPosition x="252" y="254"/>
-                  </connectionPointOut>
-                </variable>
-              </outputVariables>
-            </block>
-            <inVariable localId="11" height="27" width="54">
-              <position x="630" y="306"/>
-              <connectionPointOut>
-                <relPosition x="54" y="13"/>
-              </connectionPointOut>
-              <expression>1800.0</expression>
-            </inVariable>
-            <inVariable localId="12" height="27" width="46">
-              <position x="637" y="342"/>
-              <connectionPointOut>
-                <relPosition x="46" y="13"/>
-              </connectionPointOut>
-              <expression>360.0</expression>
-            </inVariable>
-          </FBD>
-        </body>
-      </pou>
-    </pous>
-  </types>
-  <instances>
-    <configurations>
-      <configuration name="conf">
-        <resource name="res">
-          <task name="main_task" interval="T#0.5ms" priority="0">
-            <pouInstance name="main_instance" typeName="Prog"/>
-            <pouInstance name="test_MCL_instance" typeName="test_MCL"/>
-          </task>
-        </resource>
-      </configuration>
-    </configurations>
-  </instances>
-</project>
diff -r c44692b53736 -r 4d7cee25a474 tests/first_steps/plc.xml
--- a/tests/first_steps/plc.xml	Tue Oct 02 15:56:09 2018 +0200
+++ b/tests/first_steps/plc.xml	Tue Oct 02 15:57:26 2018 +0200
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <project xmlns:ns1="http://www.plcopen.org/xml/tc6_0201" xmlns:xhtml="http://www.w3.org/1999/xhtml" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns="http://www.plcopen.org/xml/tc6_0201">
   <fileHeader companyName="Beremiz" productName="Beremiz" productVersion="1" creationDateTime="2016-10-24T18:09:22"/>
-  <contentHeader name="First Steps" modificationDateTime="2018-05-31T12:59:20">
+  <contentHeader name="First Steps" modificationDateTime="2018-08-24T13:11:30">
     <coordinateInfo>
       <fbd>
         <scaling x="0" y="0"/>
@@ -191,7 +191,7 @@
                 </variable>
               </outputVariables>
             </block>
-            <comment localId="6" height="306" width="434">
+            <comment localId="6" height="344" width="434">
               <position x="620" y="130"/>
               <content>
                 <xhtml:p><![CDATA[In this example function block with the same functionality 
@@ -528,41 +528,41 @@
         </interface>
         <body>
           <FBD>
-            <inVariable localId="1" executionOrderId="0" height="24" width="61" negated="false">
+            <inVariable localId="1" executionOrderId="0" height="30" width="61" negated="false">
               <position x="321" y="58"/>
               <connectionPointOut>
-                <relPosition x="61" y="12"/>
+                <relPosition x="61" y="15"/>
               </connectionPointOut>
               <expression>Reset</expression>
             </inVariable>
-            <outVariable localId="2" executionOrderId="0" height="24" width="34" negated="false">
+            <outVariable localId="2" executionOrderId="0" height="30" width="39" negated="false">
               <position x="675" y="137"/>
               <connectionPointIn>
-                <relPosition x="0" y="12"/>
+                <relPosition x="0" y="15"/>
                 <connection refLocalId="3">
-                  <position x="675" y="149"/>
-                  <position x="586" y="149"/>
+                  <position x="675" y="152"/>
+                  <position x="589" y="152"/>
                 </connection>
               </connectionPointIn>
               <expression>OUT</expression>
             </outVariable>
-            <inOutVariable localId="3" executionOrderId="0" height="24" width="29" negatedOut="false" negatedIn="false">
+            <inOutVariable localId="3" executionOrderId="0" height="30" width="32" negatedOut="false" negatedIn="false">
               <position x="557" y="137"/>
               <connectionPointIn>
-                <relPosition x="0" y="12"/>
+                <relPosition x="0" y="15"/>
                 <connection refLocalId="7" formalParameter="OUT">
-                  <position x="557" y="149"/>
-                  <position x="524" y="149"/>
-                  <position x="524" y="130"/>
-                  <position x="505" y="130"/>
-                </connection>
-              </connectionPointIn>
-              <connectionPointOut>
-                <relPosition x="29" y="12"/>
+                  <position x="557" y="152"/>
+                  <position x="525" y="152"/>
+                  <position x="525" y="130"/>
+                  <position x="515" y="130"/>
+                </connection>
+              </connectionPointIn>
+              <connectionPointOut>
+                <relPosition x="32" y="15"/>
               </connectionPointOut>
               <expression>Cnt</expression>
             </inOutVariable>
-            <block localId="4" typeName="ADD" executionOrderId="0" height="80" width="57">
+            <block localId="4" typeName="ADD" executionOrderId="0" height="80" width="67">
               <position x="328" y="115"/>
               <inputVariables>
                 <variable formalParameter="IN1">
@@ -570,7 +570,9 @@
                     <relPosition x="0" y="35"/>
                     <connection refLocalId="6">
                       <position x="328" y="150"/>
-                      <position x="275" y="150"/>
+                      <position x="301" y="150"/>
+                      <position x="301" y="153"/>
+                      <position x="275" y="153"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -581,9 +583,9 @@
                       <position x="328" y="180"/>
                       <position x="317" y="180"/>
                       <position x="317" y="213"/>
-                      <position x="596" y="213"/>
-                      <position x="596" y="149"/>
-                      <position x="586" y="149"/>
+                      <position x="599" y="213"/>
+                      <position x="599" y="152"/>
+                      <position x="589" y="152"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -592,26 +594,26 @@
               <outputVariables>
                 <variable formalParameter="OUT">
                   <connectionPointOut>
-                    <relPosition x="57" y="35"/>
+                    <relPosition x="67" y="35"/>
                   </connectionPointOut>
                 </variable>
               </outputVariables>
             </block>
-            <inVariable localId="5" executionOrderId="0" height="24" width="158" negated="false">
+            <inVariable localId="5" executionOrderId="0" height="30" width="158" negated="false">
               <position x="222" y="256"/>
               <connectionPointOut>
-                <relPosition x="158" y="12"/>
+                <relPosition x="158" y="15"/>
               </connectionPointOut>
               <expression>ResetCounterValue</expression>
             </inVariable>
-            <inVariable localId="6" executionOrderId="0" height="24" width="21" negated="false">
+            <inVariable localId="6" executionOrderId="0" height="30" width="21" negated="false">
               <position x="254" y="138"/>
               <connectionPointOut>
-                <relPosition x="21" y="12"/>
+                <relPosition x="21" y="15"/>
               </connectionPointOut>
               <expression>1</expression>
             </inVariable>
-            <block localId="7" typeName="SEL" executionOrderId="0" height="80" width="57">
+            <block localId="7" typeName="SEL" executionOrderId="0" height="80" width="67">
               <position x="448" y="100"/>
               <inputVariables>
                 <variable formalParameter="G">
@@ -620,8 +622,8 @@
                     <connection refLocalId="1">
                       <position x="448" y="130"/>
                       <position x="415" y="130"/>
-                      <position x="415" y="70"/>
-                      <position x="382" y="70"/>
+                      <position x="415" y="73"/>
+                      <position x="382" y="73"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -630,7 +632,7 @@
                     <relPosition x="0" y="50"/>
                     <connection refLocalId="4" formalParameter="OUT">
                       <position x="448" y="150"/>
-                      <position x="385" y="150"/>
+                      <position x="395" y="150"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -640,8 +642,8 @@
                     <connection refLocalId="5">
                       <position x="448" y="170"/>
                       <position x="414" y="170"/>
-                      <position x="414" y="268"/>
-                      <position x="380" y="268"/>
+                      <position x="414" y="271"/>
+                      <position x="380" y="271"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -650,7 +652,7 @@
               <outputVariables>
                 <variable formalParameter="OUT">
                   <connectionPointOut>
-                    <relPosition x="57" y="30"/>
+                    <relPosition x="67" y="30"/>
                   </connectionPointOut>
                 </variable>
               </outputVariables>
@@ -692,10 +694,10 @@
         <actions/>
         <body>
           <SFC>
-            <step localId="1" name="Start" initialStep="true" height="28" width="90">
+            <step localId="1" name="Start" initialStep="true" height="34" width="90">
               <position x="241" y="14"/>
               <connectionPointOut formalParameter="">
-                <relPosition x="45" y="28"/>
+                <relPosition x="45" y="34"/>
               </connectionPointOut>
             </step>
             <selectionDivergence localId="2" height="1" width="431">
@@ -754,7 +756,7 @@
                 </inline>
               </condition>
             </transition>
-            <step localId="5" name="ResetCounter" initialStep="false" height="24" width="104">
+            <step localId="5" name="ResetCounter" initialStep="false" height="30" width="104">
               <position x="449" y="190"/>
               <connectionPointIn>
                 <relPosition x="52" y="0"/>
@@ -764,10 +766,10 @@
                 </connection>
               </connectionPointIn>
               <connectionPointOut formalParameter="">
-                <relPosition x="52" y="24"/>
+                <relPosition x="52" y="30"/>
               </connectionPointOut>
               <connectionPointOutAction formalParameter="">
-                <relPosition x="104" y="12"/>
+                <relPosition x="104" y="15"/>
               </connectionPointOutAction>
             </step>
             <actionBlock localId="6" height="63" width="222">
@@ -796,7 +798,7 @@
                 </inline>
               </action>
             </actionBlock>
-            <step localId="7" name="Count" initialStep="false" height="24" width="85" executionOrderId="0">
+            <step localId="7" name="Count" initialStep="false" height="30" width="85" executionOrderId="0">
               <position x="28" y="191"/>
               <connectionPointIn>
                 <relPosition x="42" y="0"/>
@@ -806,10 +808,10 @@
                 </connection>
               </connectionPointIn>
               <connectionPointOut formalParameter="">
-                <relPosition x="42" y="24"/>
+                <relPosition x="42" y="30"/>
               </connectionPointOut>
               <connectionPointOutAction formalParameter="">
-                <relPosition x="85" y="12"/>
+                <relPosition x="85" y="15"/>
               </connectionPointOutAction>
             </step>
             <actionBlock localId="8" height="52" width="148" executionOrderId="0">
@@ -997,32 +999,34 @@
         </interface>
         <body>
           <LD>
-            <outVariable localId="2" executionOrderId="0" height="24" width="34" negated="false">
+            <outVariable localId="2" executionOrderId="0" height="30" width="34" negated="false">
               <position x="527" y="90"/>
               <connectionPointIn>
-                <relPosition x="0" y="12"/>
+                <relPosition x="0" y="15"/>
                 <connection refLocalId="3">
-                  <position x="527" y="102"/>
-                  <position x="438" y="102"/>
+                  <position x="527" y="105"/>
+                  <position x="441" y="105"/>
                 </connection>
               </connectionPointIn>
               <expression>Out</expression>
             </outVariable>
-            <inOutVariable localId="3" executionOrderId="0" height="24" width="29" negatedOut="false" negatedIn="false">
+            <inOutVariable localId="3" executionOrderId="0" height="30" width="32" negatedOut="false" negatedIn="false">
               <position x="409" y="90"/>
               <connectionPointIn>
-                <relPosition x="0" y="12"/>
+                <relPosition x="0" y="15"/>
                 <connection refLocalId="7" formalParameter="OUT">
-                  <position x="409" y="102"/>
-                  <position x="357" y="102"/>
-                </connection>
-              </connectionPointIn>
-              <connectionPointOut>
-                <relPosition x="29" y="12"/>
+                  <position x="409" y="105"/>
+                  <position x="388" y="105"/>
+                  <position x="388" y="102"/>
+                  <position x="367" y="102"/>
+                </connection>
+              </connectionPointIn>
+              <connectionPointOut>
+                <relPosition x="32" y="15"/>
               </connectionPointOut>
               <expression>Cnt</expression>
             </inOutVariable>
-            <block localId="4" typeName="ADD" executionOrderId="0" height="80" width="57">
+            <block localId="4" typeName="ADD" executionOrderId="0" height="80" width="67">
               <position x="180" y="87"/>
               <inputVariables>
                 <variable formalParameter="IN1">
@@ -1030,7 +1034,9 @@
                     <relPosition x="0" y="35"/>
                     <connection refLocalId="6">
                       <position x="180" y="122"/>
-                      <position x="127" y="122"/>
+                      <position x="153" y="122"/>
+                      <position x="153" y="125"/>
+                      <position x="127" y="125"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -1041,9 +1047,9 @@
                       <position x="180" y="152"/>
                       <position x="169" y="152"/>
                       <position x="169" y="185"/>
-                      <position x="448" y="185"/>
-                      <position x="448" y="102"/>
-                      <position x="438" y="102"/>
+                      <position x="451" y="185"/>
+                      <position x="451" y="105"/>
+                      <position x="441" y="105"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -1052,26 +1058,26 @@
               <outputVariables>
                 <variable formalParameter="OUT">
                   <connectionPointOut>
-                    <relPosition x="57" y="35"/>
+                    <relPosition x="67" y="35"/>
                   </connectionPointOut>
                 </variable>
               </outputVariables>
             </block>
-            <inVariable localId="5" executionOrderId="0" height="24" width="158" negated="false">
+            <inVariable localId="5" executionOrderId="0" height="30" width="158" negated="false">
               <position x="74" y="228"/>
               <connectionPointOut>
-                <relPosition x="158" y="12"/>
+                <relPosition x="158" y="15"/>
               </connectionPointOut>
               <expression>ResetCounterValue</expression>
             </inVariable>
-            <inVariable localId="6" executionOrderId="0" height="24" width="21" negated="false">
+            <inVariable localId="6" executionOrderId="0" height="30" width="21" negated="false">
               <position x="106" y="110"/>
               <connectionPointOut>
-                <relPosition x="21" y="12"/>
+                <relPosition x="21" y="15"/>
               </connectionPointOut>
               <expression>1</expression>
             </inVariable>
-            <block localId="7" typeName="SEL" executionOrderId="0" height="80" width="57">
+            <block localId="7" typeName="SEL" executionOrderId="0" height="80" width="67">
               <position x="300" y="72"/>
               <inputVariables>
                 <variable formalParameter="G">
@@ -1090,7 +1096,7 @@
                     <relPosition x="0" y="50"/>
                     <connection refLocalId="4" formalParameter="OUT">
                       <position x="300" y="122"/>
-                      <position x="237" y="122"/>
+                      <position x="247" y="122"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -1100,8 +1106,8 @@
                     <connection refLocalId="5">
                       <position x="300" y="142"/>
                       <position x="266" y="142"/>
-                      <position x="266" y="240"/>
-                      <position x="232" y="240"/>
+                      <position x="266" y="243"/>
+                      <position x="232" y="243"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -1110,7 +1116,7 @@
               <outputVariables>
                 <variable formalParameter="OUT">
                   <connectionPointOut>
-                    <relPosition x="57" y="30"/>
+                    <relPosition x="67" y="30"/>
                   </connectionPointOut>
                 </variable>
               </outputVariables>
diff -r c44692b53736 -r 4d7cee25a474 tests/genericmake/plc.xml
--- a/tests/genericmake/plc.xml	Tue Oct 02 15:56:09 2018 +0200
+++ b/tests/genericmake/plc.xml	Tue Oct 02 15:57:26 2018 +0200
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <project xmlns:ns1="http://www.plcopen.org/xml/tc6_0201" xmlns:xhtml="http://www.w3.org/1999/xhtml" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns="http://www.plcopen.org/xml/tc6_0201">
   <fileHeader companyName="Unknown" productName="Unnamed" productVersion="1" creationDateTime="2014-01-19T11:14:47" contentDescription="This example shows how you can customize build process by using 'make'.&#10;"/>
-  <contentHeader name="Makefile Example" modificationDateTime="2016-10-14T14:00:01">
+  <contentHeader name="Makefile Example" modificationDateTime="2018-08-24T13:12:10">
     <coordinateInfo>
       <fbd>
         <scaling x="0" y="0"/>
@@ -34,25 +34,25 @@
         </interface>
         <body>
           <FBD>
-            <inVariable localId="1" executionOrderId="0" height="27" width="77" negated="false">
-              <position x="52" y="368"/>
+            <inVariable localId="1" executionOrderId="0" height="30" width="77" negated="false">
+              <position x="52" y="424"/>
               <connectionPointOut>
-                <relPosition x="77" y="13"/>
+                <relPosition x="77" y="15"/>
               </connectionPointOut>
               <expression>LocalVara</expression>
             </inVariable>
-            <outVariable localId="2" executionOrderId="0" height="27" width="77" negated="false">
-              <position x="167" y="368"/>
+            <outVariable localId="2" executionOrderId="0" height="30" width="77" negated="false">
+              <position x="167" y="424"/>
               <connectionPointIn>
-                <relPosition x="0" y="13"/>
+                <relPosition x="0" y="15"/>
                 <connection refLocalId="1">
-                  <position x="167" y="381"/>
-                  <position x="129" y="381"/>
+                  <position x="167" y="439"/>
+                  <position x="129" y="439"/>
                 </connection>
               </connectionPointIn>
               <expression>LocalVarb</expression>
             </outVariable>
-            <comment localId="3" height="310" width="760">
+            <comment localId="3" height="385" width="760">
               <position x="32" y="23"/>
               <content>
                 <xhtml:p><![CDATA[This example shows how you can customize build process by using 'make'.
diff -r c44692b53736 -r 4d7cee25a474 tests/logging/plc.xml
--- a/tests/logging/plc.xml	Tue Oct 02 15:56:09 2018 +0200
+++ b/tests/logging/plc.xml	Tue Oct 02 15:57:26 2018 +0200
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <project xmlns="http://www.plcopen.org/xml/tc6_0201" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xhtml="http://www.w3.org/1999/xhtml" xsi:schemaLocation="http://www.plcopen.org/xml/tc6_0201">
   <fileHeader companyName="Unknown" productName="Generic PLC" productVersion="1" creationDateTime="2013-01-29T14:01:00" contentDescription="This example shows logging functionality in Beremiz.&#10;Here are shown two ways of logging:&#10;- from IEC PLC program;&#10;- from python extension.&#10;"/>
-  <contentHeader name="Logging example" modificationDateTime="2016-09-09T17:54:15">
+  <contentHeader name="Logging example" modificationDateTime="2018-08-24T13:12:45">
     <coordinateInfo>
       <fbd>
         <scaling x="0" y="0"/>
@@ -53,21 +53,21 @@
         <body>
           <FBD>
             <inVariable localId="2" height="30" width="170" executionOrderId="0" negated="false">
-              <position x="507" y="347"/>
+              <position x="507" y="365"/>
               <connectionPointOut>
                 <relPosition x="170" y="15"/>
               </connectionPointOut>
               <expression>'IEC side logging: beat #'</expression>
             </inVariable>
             <block localId="3" width="59" height="40" typeName="NOT" executionOrderId="0">
-              <position x="241" y="269"/>
+              <position x="241" y="287"/>
               <inputVariables>
                 <variable formalParameter="IN">
                   <connectionPointIn>
                     <relPosition x="0" y="30"/>
                     <connection refLocalId="14" formalParameter="Q">
-                      <position x="241" y="299"/>
-                      <position x="195" y="299"/>
+                      <position x="241" y="317"/>
+                      <position x="197" y="317"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -81,37 +81,37 @@
                 </variable>
               </outputVariables>
             </block>
-            <inOutVariable localId="4" height="27" width="51" executionOrderId="0" negatedOut="false" negatedIn="false">
-              <position x="66" y="286"/>
+            <inOutVariable localId="4" height="30" width="51" executionOrderId="0" negatedOut="false" negatedIn="false">
+              <position x="66" y="304"/>
               <connectionPointIn>
-                <relPosition x="0" y="13"/>
+                <relPosition x="0" y="15"/>
                 <connection refLocalId="3" formalParameter="OUT">
-                  <position x="66" y="299"/>
-                  <position x="37" y="299"/>
-                  <position x="37" y="372"/>
-                  <position x="314" y="372"/>
-                  <position x="314" y="299"/>
-                  <position x="300" y="299"/>
+                  <position x="66" y="319"/>
+                  <position x="37" y="319"/>
+                  <position x="37" y="390"/>
+                  <position x="314" y="390"/>
+                  <position x="314" y="317"/>
+                  <position x="300" y="317"/>
                 </connection>
               </connectionPointIn>
               <connectionPointOut>
-                <relPosition x="51" y="13"/>
+                <relPosition x="51" y="15"/>
               </connectionPointOut>
               <expression>beat</expression>
             </inOutVariable>
             <block localId="5" width="68" height="98" typeName="ADD" executionOrderId="0">
-              <position x="463" y="385"/>
+              <position x="463" y="403"/>
               <inputVariables>
                 <variable formalParameter="IN1">
                   <connectionPointIn>
                     <relPosition x="0" y="39"/>
                     <connection refLocalId="10" formalParameter="OUT">
-                      <position x="463" y="424"/>
-                      <position x="452" y="424"/>
-                      <position x="452" y="424"/>
-                      <position x="454" y="424"/>
-                      <position x="454" y="424"/>
-                      <position x="444" y="424"/>
+                      <position x="463" y="442"/>
+                      <position x="452" y="442"/>
+                      <position x="452" y="442"/>
+                      <position x="455" y="442"/>
+                      <position x="455" y="442"/>
+                      <position x="445" y="442"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -119,8 +119,12 @@
                   <connectionPointIn>
                     <relPosition x="0" y="78"/>
                     <connection refLocalId="6">
-                      <position x="463" y="463"/>
-                      <position x="444" y="463"/>
+                      <position x="463" y="481"/>
+                      <position x="453" y="481"/>
+                      <position x="453" y="482"/>
+                      <position x="454" y="482"/>
+                      <position x="454" y="483"/>
+                      <position x="444" y="483"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -134,33 +138,33 @@
                 </variable>
               </outputVariables>
             </block>
-            <inOutVariable localId="6" height="27" width="103" executionOrderId="0" negatedOut="false" negatedIn="false">
-              <position x="341" y="450"/>
+            <inOutVariable localId="6" height="30" width="103" executionOrderId="0" negatedOut="false" negatedIn="false">
+              <position x="341" y="468"/>
               <connectionPointIn>
-                <relPosition x="0" y="13"/>
+                <relPosition x="0" y="15"/>
                 <connection refLocalId="5" formalParameter="OUT">
-                  <position x="341" y="463"/>
-                  <position x="320" y="463"/>
-                  <position x="320" y="500"/>
-                  <position x="544" y="500"/>
-                  <position x="544" y="424"/>
-                  <position x="531" y="424"/>
+                  <position x="341" y="483"/>
+                  <position x="320" y="483"/>
+                  <position x="320" y="518"/>
+                  <position x="544" y="518"/>
+                  <position x="544" y="442"/>
+                  <position x="531" y="442"/>
                 </connection>
               </connectionPointIn>
               <connectionPointOut>
-                <relPosition x="103" y="13"/>
+                <relPosition x="103" y="15"/>
               </connectionPointOut>
               <expression>count</expression>
             </inOutVariable>
             <block localId="8" width="67" height="144" typeName="CONCAT" executionOrderId="0">
-              <position x="727" y="311"/>
+              <position x="727" y="329"/>
               <inputVariables>
                 <variable formalParameter="IN1">
                   <connectionPointIn>
                     <relPosition x="0" y="51"/>
                     <connection refLocalId="2">
-                      <position x="727" y="362"/>
-                      <position x="677" y="362"/>
+                      <position x="727" y="380"/>
+                      <position x="677" y="380"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -168,8 +172,8 @@
                   <connectionPointIn>
                     <relPosition x="0" y="113"/>
                     <connection refLocalId="9" formalParameter="OUT">
-                      <position x="727" y="424"/>
-                      <position x="677" y="424"/>
+                      <position x="727" y="442"/>
+                      <position x="680" y="442"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -183,70 +187,70 @@
                 </variable>
               </outputVariables>
             </block>
-            <block localId="9" width="116" height="40" typeName="INT_TO_STRING" executionOrderId="0">
-              <position x="561" y="394"/>
+            <block localId="9" width="119" height="40" typeName="INT_TO_STRING" executionOrderId="0">
+              <position x="561" y="412"/>
               <inputVariables>
                 <variable formalParameter="IN">
                   <connectionPointIn>
                     <relPosition x="0" y="30"/>
                     <connection refLocalId="5" formalParameter="OUT">
-                      <position x="561" y="424"/>
-                      <position x="531" y="424"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-              </inputVariables>
-              <inOutVariables/>
-              <outputVariables>
-                <variable formalParameter="OUT">
-                  <connectionPointOut>
-                    <relPosition x="116" y="30"/>
-                  </connectionPointOut>
-                </variable>
-              </outputVariables>
-            </block>
-            <block localId="10" width="105" height="40" typeName="BOOL_TO_INT" executionOrderId="0">
-              <position x="339" y="394"/>
+                      <position x="561" y="442"/>
+                      <position x="531" y="442"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="119" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="10" width="106" height="40" typeName="BOOL_TO_INT" executionOrderId="0">
+              <position x="339" y="412"/>
               <inputVariables>
                 <variable formalParameter="IN" edge="rising">
                   <connectionPointIn>
                     <relPosition x="0" y="30"/>
                     <connection refLocalId="3" formalParameter="OUT">
-                      <position x="339" y="424"/>
-                      <position x="314" y="424"/>
-                      <position x="314" y="299"/>
-                      <position x="300" y="299"/>
-                    </connection>
-                  </connectionPointIn>
-                </variable>
-              </inputVariables>
-              <inOutVariables/>
-              <outputVariables>
-                <variable formalParameter="OUT">
-                  <connectionPointOut>
-                    <relPosition x="105" y="30"/>
+                      <position x="339" y="442"/>
+                      <position x="314" y="442"/>
+                      <position x="314" y="317"/>
+                      <position x="300" y="317"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="106" y="30"/>
                   </connectionPointOut>
                 </variable>
               </outputVariables>
             </block>
             <block localId="11" width="65" height="209" typeName="LOGGER" instanceName="LOGGER0" executionOrderId="0">
-              <position x="907" y="248"/>
+              <position x="907" y="266"/>
               <inputVariables>
                 <variable formalParameter="TRIG">
                   <connectionPointIn>
-                    <relPosition x="0" y="52"/>
+                    <relPosition x="0" y="51"/>
                     <connection refLocalId="3" formalParameter="OUT">
-                      <position x="907" y="300"/>
-                      <position x="300" y="300"/>
+                      <position x="907" y="317"/>
+                      <position x="300" y="317"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
                 <variable formalParameter="MSG">
                   <connectionPointIn>
-                    <relPosition x="0" y="112"/>
+                    <relPosition x="0" y="114"/>
                     <connection refLocalId="8" formalParameter="OUT">
-                      <position x="907" y="360"/>
-                      <position x="794" y="360"/>
+                      <position x="907" y="380"/>
+                      <position x="794" y="380"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -254,8 +258,10 @@
                   <connectionPointIn>
                     <relPosition x="0" y="177"/>
                     <connection refLocalId="12">
-                      <position x="907" y="425"/>
-                      <position x="879" y="425"/>
+                      <position x="907" y="443"/>
+                      <position x="893" y="443"/>
+                      <position x="893" y="445"/>
+                      <position x="879" y="445"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -263,22 +269,24 @@
               <inOutVariables/>
               <outputVariables/>
             </block>
-            <inVariable localId="12" height="27" width="79" executionOrderId="0" negated="false">
-              <position x="800" y="412"/>
-              <connectionPointOut>
-                <relPosition x="79" y="13"/>
+            <inVariable localId="12" height="30" width="79" executionOrderId="0" negated="false">
+              <position x="800" y="430"/>
+              <connectionPointOut>
+                <relPosition x="79" y="15"/>
               </connectionPointOut>
               <expression>lvl</expression>
             </inVariable>
-            <block localId="14" typeName="TOF" instanceName="Timer" executionOrderId="0" height="98" width="45">
-              <position x="150" y="260"/>
+            <block localId="14" typeName="TOF" instanceName="Timer" executionOrderId="0" height="98" width="47">
+              <position x="150" y="278"/>
               <inputVariables>
                 <variable formalParameter="IN">
                   <connectionPointIn>
                     <relPosition x="0" y="39"/>
                     <connection refLocalId="4">
-                      <position x="150" y="299"/>
-                      <position x="117" y="299"/>
+                      <position x="150" y="317"/>
+                      <position x="133" y="317"/>
+                      <position x="133" y="319"/>
+                      <position x="117" y="319"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -286,8 +294,10 @@
                   <connectionPointIn>
                     <relPosition x="0" y="78"/>
                     <connection refLocalId="1">
-                      <position x="150" y="338"/>
-                      <position x="117" y="338"/>
+                      <position x="150" y="356"/>
+                      <position x="133" y="356"/>
+                      <position x="133" y="359"/>
+                      <position x="117" y="359"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -296,24 +306,24 @@
               <outputVariables>
                 <variable formalParameter="Q">
                   <connectionPointOut>
-                    <relPosition x="45" y="39"/>
+                    <relPosition x="47" y="39"/>
                   </connectionPointOut>
                 </variable>
                 <variable formalParameter="ET">
                   <connectionPointOut>
-                    <relPosition x="45" y="78"/>
-                  </connectionPointOut>
-                </variable>
-              </outputVariables>
-            </block>
-            <inVariable localId="1" executionOrderId="0" height="24" width="52" negated="false">
-              <position x="65" y="326"/>
-              <connectionPointOut>
-                <relPosition x="52" y="12"/>
+                    <relPosition x="47" y="78"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="1" executionOrderId="0" height="30" width="52" negated="false">
+              <position x="65" y="344"/>
+              <connectionPointOut>
+                <relPosition x="52" y="15"/>
               </connectionPointOut>
               <expression>T#3s</expression>
             </inVariable>
-            <comment localId="15" height="212" width="675">
+            <comment localId="15" height="238" width="675">
               <position x="27" y="16"/>
               <content>
                 <xhtml:p><![CDATA[This example shows logging functionality in Beremiz.
diff -r c44692b53736 -r 4d7cee25a474 tests/python/plc.xml
--- a/tests/python/plc.xml	Tue Oct 02 15:56:09 2018 +0200
+++ b/tests/python/plc.xml	Tue Oct 02 15:57:26 2018 +0200
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <project xmlns="http://www.plcopen.org/xml/tc6_0201" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xhtml="http://www.w3.org/1999/xhtml" xsi:schemaLocation="http://www.plcopen.org/xml/tc6_0201">
   <fileHeader companyName="" productName="Beremiz" productVersion="0.0" creationDateTime="2008-12-14T16:21:19" contentDescription="This example shows many features in Beremiz:&#10;&#10;   1. How to implement python extensions.&#10;   2. How to implement basic C extension.&#10;   3. How to use C code in IEC POUs.&#10;   4. How to call C functions from python code.&#10;   5. How to avoid race conditions between IEC, C and python code.&#10;   6. How to convert betweet different IEC types.&#10;"/>
-  <contentHeader name="Beremiz Python Support Tests" modificationDateTime="2016-10-12T14:15:35">
+  <contentHeader name="Beremiz Python Support Tests" modificationDateTime="2018-08-24T13:17:44">
     <coordinateInfo>
       <pageSize x="1024" y="1024"/>
       <fbd>
@@ -323,14 +323,14 @@
               <expression>pytest_var2</expression>
             </inOutVariable>
             <block localId="8" width="125" height="80" typeName="python_eval" instanceName="Block1" executionOrderId="0">
-              <position x="650" y="515"/>
+              <position x="650" y="545"/>
               <inputVariables>
                 <variable formalParameter="TRIG">
                   <connectionPointIn>
                     <relPosition x="0" y="35"/>
                     <connection refLocalId="7" formalParameter="OUT">
-                      <position x="650" y="550"/>
-                      <position x="285" y="550"/>
+                      <position x="650" y="580"/>
+                      <position x="285" y="580"/>
                       <position x="285" y="480"/>
                       <position x="250" y="480"/>
                     </connection>
@@ -340,8 +340,8 @@
                   <connectionPointIn>
                     <relPosition x="0" y="65"/>
                     <connection refLocalId="9">
-                      <position x="650" y="580"/>
-                      <position x="585" y="580"/>
+                      <position x="650" y="610"/>
+                      <position x="585" y="610"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -361,28 +361,28 @@
               </outputVariables>
             </block>
             <inVariable localId="9" height="30" width="290" executionOrderId="0" negated="false">
-              <position x="295" y="565"/>
+              <position x="295" y="595"/>
               <connectionPointOut>
                 <relPosition x="290" y="15"/>
               </connectionPointOut>
               <expression>'sys.stdout.write("FBID :"+str(FBID)+"\n")'</expression>
             </inVariable>
             <inVariable localId="11" height="30" width="290" executionOrderId="0" negated="false">
-              <position x="295" y="685"/>
+              <position x="295" y="735"/>
               <connectionPointOut>
                 <relPosition x="290" y="15"/>
               </connectionPointOut>
               <expression>'PLCBinary.Simple_C_Call(5678)'</expression>
             </inVariable>
             <block localId="12" width="125" height="80" typeName="python_eval" instanceName="Block2" executionOrderId="0">
-              <position x="650" y="637"/>
+              <position x="650" y="687"/>
               <inputVariables>
                 <variable formalParameter="TRIG">
                   <connectionPointIn>
                     <relPosition x="0" y="33"/>
                     <connection refLocalId="7" formalParameter="OUT">
-                      <position x="650" y="670"/>
-                      <position x="285" y="670"/>
+                      <position x="650" y="720"/>
+                      <position x="285" y="720"/>
                       <position x="285" y="480"/>
                       <position x="250" y="480"/>
                     </connection>
@@ -392,8 +392,8 @@
                   <connectionPointIn>
                     <relPosition x="0" y="63"/>
                     <connection refLocalId="11">
-                      <position x="650" y="700"/>
-                      <position x="585" y="700"/>
+                      <position x="650" y="750"/>
+                      <position x="585" y="750"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -413,21 +413,21 @@
               </outputVariables>
             </block>
             <inVariable localId="14" height="30" width="290" executionOrderId="0" negated="false">
-              <position x="290" y="810"/>
+              <position x="290" y="885"/>
               <connectionPointOut>
                 <relPosition x="290" y="15"/>
               </connectionPointOut>
               <expression>'MyPythonFunc(42)'</expression>
             </inVariable>
             <block localId="15" width="125" height="80" typeName="python_eval" instanceName="Block3" executionOrderId="0">
-              <position x="650" y="762"/>
+              <position x="650" y="837"/>
               <inputVariables>
                 <variable formalParameter="TRIG">
                   <connectionPointIn>
                     <relPosition x="0" y="33"/>
                     <connection refLocalId="7" formalParameter="OUT">
-                      <position x="650" y="795"/>
-                      <position x="285" y="795"/>
+                      <position x="650" y="870"/>
+                      <position x="285" y="870"/>
                       <position x="285" y="480"/>
                       <position x="250" y="480"/>
                     </connection>
@@ -437,8 +437,8 @@
                   <connectionPointIn>
                     <relPosition x="0" y="63"/>
                     <connection refLocalId="14">
-                      <position x="650" y="825"/>
-                      <position x="580" y="825"/>
+                      <position x="650" y="900"/>
+                      <position x="580" y="900"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -464,16 +464,16 @@
               </content>
             </comment>
             <block localId="17" width="80" height="120" typeName="MUX" executionOrderId="0">
-              <position x="1065" y="715"/>
+              <position x="1065" y="790"/>
               <inputVariables>
                 <variable formalParameter="K">
                   <connectionPointIn>
                     <relPosition x="0" y="30"/>
                     <connection refLocalId="18">
-                      <position x="1065" y="745"/>
-                      <position x="1040" y="745"/>
-                      <position x="1040" y="735"/>
-                      <position x="1015" y="735"/>
+                      <position x="1065" y="820"/>
+                      <position x="1040" y="820"/>
+                      <position x="1040" y="810"/>
+                      <position x="1022" y="810"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -481,8 +481,8 @@
                   <connectionPointIn>
                     <relPosition x="0" y="50"/>
                     <connection refLocalId="5" formalParameter="RESULT">
-                      <position x="1065" y="765"/>
-                      <position x="905" y="765"/>
+                      <position x="1065" y="840"/>
+                      <position x="905" y="840"/>
                       <position x="905" y="465"/>
                       <position x="775" y="465"/>
                     </connection>
@@ -492,10 +492,10 @@
                   <connectionPointIn>
                     <relPosition x="0" y="70"/>
                     <connection refLocalId="8" formalParameter="RESULT">
-                      <position x="1065" y="785"/>
-                      <position x="890" y="785"/>
-                      <position x="890" y="580"/>
-                      <position x="775" y="580"/>
+                      <position x="1065" y="860"/>
+                      <position x="890" y="860"/>
+                      <position x="890" y="610"/>
+                      <position x="775" y="610"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -503,10 +503,10 @@
                   <connectionPointIn>
                     <relPosition x="0" y="90"/>
                     <connection refLocalId="12" formalParameter="RESULT">
-                      <position x="1065" y="805"/>
-                      <position x="875" y="805"/>
-                      <position x="875" y="700"/>
-                      <position x="775" y="700"/>
+                      <position x="1065" y="880"/>
+                      <position x="875" y="880"/>
+                      <position x="875" y="750"/>
+                      <position x="775" y="750"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -514,8 +514,8 @@
                   <connectionPointIn>
                     <relPosition x="0" y="110"/>
                     <connection refLocalId="15" formalParameter="RESULT">
-                      <position x="1065" y="825"/>
-                      <position x="775" y="825"/>
+                      <position x="1065" y="900"/>
+                      <position x="775" y="900"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -530,12 +530,12 @@
               </outputVariables>
             </block>
             <outVariable localId="19" height="35" width="125" executionOrderId="0" negated="false">
-              <position x="1235" y="730"/>
+              <position x="1235" y="805"/>
               <connectionPointIn>
                 <relPosition x="0" y="15"/>
                 <connection refLocalId="17" formalParameter="OUT">
-                  <position x="1235" y="745"/>
-                  <position x="1145" y="745"/>
+                  <position x="1235" y="820"/>
+                  <position x="1145" y="820"/>
                 </connection>
               </connectionPointIn>
               <expression>pytest_var1</expression>
@@ -550,7 +550,7 @@
                       <position x="1070" y="415"/>
                       <position x="1040" y="415"/>
                       <position x="1040" y="405"/>
-                      <position x="1010" y="405"/>
+                      <position x="1017" y="405"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -569,8 +569,8 @@
                     <connection refLocalId="8" formalParameter="ACK">
                       <position x="1070" y="455"/>
                       <position x="805" y="455"/>
-                      <position x="805" y="550"/>
-                      <position x="775" y="550"/>
+                      <position x="805" y="580"/>
+                      <position x="775" y="580"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -580,8 +580,8 @@
                     <connection refLocalId="12" formalParameter="ACK">
                       <position x="1070" y="475"/>
                       <position x="820" y="475"/>
-                      <position x="820" y="670"/>
-                      <position x="775" y="670"/>
+                      <position x="820" y="720"/>
+                      <position x="775" y="720"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -591,8 +591,8 @@
                     <connection refLocalId="15" formalParameter="ACK">
                       <position x="1070" y="495"/>
                       <position x="835" y="495"/>
-                      <position x="835" y="795"/>
-                      <position x="775" y="795"/>
+                      <position x="835" y="870"/>
+                      <position x="775" y="870"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -606,10 +606,10 @@
                 </variable>
               </outputVariables>
             </block>
-            <inVariable localId="22" height="30" width="65" executionOrderId="0" negated="false">
+            <inVariable localId="22" height="30" width="72" executionOrderId="0" negated="false">
               <position x="945" y="390"/>
               <connectionPointOut>
-                <relPosition x="65" y="15"/>
+                <relPosition x="72" y="15"/>
               </connectionPointOut>
               <expression>mux1_sel</expression>
             </inVariable>
@@ -700,44 +700,44 @@
               </connectionPointOut>
               <expression>10</expression>
             </inVariable>
-            <comment localId="30" height="75" width="465">
-              <position x="50" y="945"/>
+            <comment localId="30" height="105" width="465">
+              <position x="50" y="925"/>
               <content>
                 <xhtml:p><![CDATA[You will be ready to use beremiz with C and Python when you will understand why "FromInput" is equal  to 75.
 Happy hacking! ]]></xhtml:p>
               </content>
             </comment>
-            <comment localId="31" height="60" width="345">
+            <comment localId="31" height="90" width="345">
               <position x="295" y="485"/>
               <content>
                 <xhtml:p><![CDATA[Sleep here is bad. It blocks other py_eval instances. Whith a wxGlade GUI, GUI freeze for a second.]]></xhtml:p>
               </content>
             </comment>
-            <comment localId="6" height="60" width="345">
-              <position x="295" y="600"/>
+            <comment localId="6" height="80" width="345">
+              <position x="295" y="630"/>
               <content>
                 <xhtml:p><![CDATA[Prints FBID to stdout of PLC runtime. FBID is a unique reference to py_eval instance.]]></xhtml:p>
               </content>
             </comment>
-            <comment localId="10" height="60" width="345">
-              <position x="295" y="720"/>
+            <comment localId="10" height="85" width="345">
+              <position x="295" y="770"/>
               <content>
                 <xhtml:p><![CDATA[Simple_C_Call is declared in C_File "1.x:c_code". See python ctypes manual for details on typing.]]></xhtml:p>
               </content>
             </comment>
-            <comment localId="32" height="105" width="235">
+            <comment localId="32" height="145" width="235">
               <position x="25" y="505"/>
               <content>
                 <xhtml:p><![CDATA[Fast clock, at least faster that sleep(1). See what happens when python takes time to answer : PLC continues.]]></xhtml:p>
               </content>
             </comment>
-            <outVariable localId="33" height="30" width="130" executionOrderId="0" negated="false">
+            <outVariable localId="33" height="30" width="133" executionOrderId="0" negated="false">
               <position x="580" y="1564"/>
               <connectionPointIn>
                 <relPosition x="0" y="16"/>
                 <connection refLocalId="35" formalParameter="OUT">
                   <position x="580" y="1580"/>
-                  <position x="370" y="1580"/>
+                  <position x="371" y="1580"/>
                 </connection>
               </connectionPointIn>
               <expression>Test_BCD_RESULT</expression>
@@ -749,7 +749,7 @@
               </connectionPointOut>
               <expression>Test_BCD</expression>
             </inVariable>
-            <block localId="35" width="105" height="60" typeName="BCD_TO_UINT" executionOrderId="0">
+            <block localId="35" width="106" height="60" typeName="BCD_TO_UINT" executionOrderId="0">
               <position x="265" y="1539"/>
               <inputVariables>
                 <variable formalParameter="IN">
@@ -766,7 +766,7 @@
               <outputVariables>
                 <variable formalParameter="OUT">
                   <connectionPointOut>
-                    <relPosition x="105" y="41"/>
+                    <relPosition x="106" y="41"/>
                   </connectionPointOut>
                 </variable>
               </outputVariables>
@@ -1163,16 +1163,16 @@
               </connectionPointIn>
               <expression>fefvsd</expression>
             </outVariable>
-            <comment localId="53" height="65" width="420">
+            <comment localId="53" height="80" width="420">
               <position x="75" y="2160"/>
               <content>
                 <xhtml:p><![CDATA[Shows global variables access from resource configuration (res_pytest) and from project's configuration.]]></xhtml:p>
               </content>
             </comment>
-            <inVariable localId="18" height="30" width="65" executionOrderId="0" negated="false">
-              <position x="950" y="720"/>
-              <connectionPointOut>
-                <relPosition x="65" y="15"/>
+            <inVariable localId="18" height="30" width="72" executionOrderId="0" negated="false">
+              <position x="950" y="795"/>
+              <connectionPointOut>
+                <relPosition x="72" y="15"/>
               </connectionPointOut>
               <expression>mux2_sel</expression>
             </inVariable>
@@ -1194,14 +1194,14 @@
                 <xhtml:p><![CDATA[Shows access variable defined in python extension. ]]></xhtml:p>
               </content>
             </comment>
-            <inVariable localId="66" height="30" width="130" executionOrderId="0" negated="false">
+            <inVariable localId="66" height="30" width="137" executionOrderId="0" negated="false">
               <position x="60" y="1685"/>
               <connectionPointOut>
-                <relPosition x="130" y="15"/>
+                <relPosition x="137" y="15"/>
               </connectionPointOut>
               <expression>Test_BCD_WRONG</expression>
             </inVariable>
-            <block localId="67" width="105" height="100" typeName="BCD_TO_UINT" executionOrderId="0">
+            <block localId="67" width="106" height="100" typeName="BCD_TO_UINT" executionOrderId="0">
               <position x="265" y="1620"/>
               <inputVariables>
                 <variable formalParameter="EN">
@@ -1218,7 +1218,7 @@
                       <position x="255" y="1700"/>
                       <position x="345" y="1700"/>
                       <position x="345" y="1700"/>
-                      <position x="190" y="1700"/>
+                      <position x="197" y="1700"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -1227,28 +1227,28 @@
               <outputVariables>
                 <variable formalParameter="ENO">
                   <connectionPointOut>
-                    <relPosition x="105" y="40"/>
+                    <relPosition x="106" y="40"/>
                   </connectionPointOut>
                 </variable>
                 <variable formalParameter="OUT">
                   <connectionPointOut>
-                    <relPosition x="105" y="80"/>
-                  </connectionPointOut>
-                </variable>
-              </outputVariables>
-            </block>
-            <outVariable localId="68" height="30" width="185" executionOrderId="0" negated="false">
+                    <relPosition x="106" y="80"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <outVariable localId="68" height="30" width="196" executionOrderId="0" negated="false">
               <position x="580" y="1685"/>
               <connectionPointIn>
                 <relPosition x="0" y="15"/>
                 <connection refLocalId="67" formalParameter="OUT">
                   <position x="580" y="1700"/>
-                  <position x="370" y="1700"/>
+                  <position x="371" y="1700"/>
                 </connection>
               </connectionPointIn>
               <expression>Test_BCD_WRONG_RESULT</expression>
             </outVariable>
-            <comment localId="69" height="135" width="375">
+            <comment localId="69" height="165" width="375">
               <position x="795" y="1590"/>
               <content>
                 <xhtml:p><![CDATA[Incorrect BCD number is not converted to UINT.
@@ -1273,7 +1273,7 @@
               </connectionPointIn>
               <expression>Test_BCD_CONVERTED</expression>
             </outVariable>
-            <comment localId="71" height="170" width="680">
+            <comment localId="71" height="215" width="680">
               <position x="35" y="30"/>
               <content>
                 <xhtml:p><![CDATA[This example shows many features in Beremiz:
diff -r c44692b53736 -r 4d7cee25a474 tests/svgui/plc.xml
--- a/tests/svgui/plc.xml	Tue Oct 02 15:56:09 2018 +0200
+++ b/tests/svgui/plc.xml	Tue Oct 02 15:57:26 2018 +0200
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.plcopen.org/xml/tc6_0201" xmlns:xhtml="http://www.w3.org/1999/xhtml" xsi:schemaLocation="http://www.plcopen.org/xml/tc6_0201">
   <fileHeader companyName="beremiz" productName="Beremiz" productVersion="0.0" creationDateTime="2008-12-14T16:21:19"/>
-  <contentHeader name="Beremiz SVGUI Test" modificationDateTime="2016-10-20T12:38:31">
+  <contentHeader name="Beremiz SVGUI Test" modificationDateTime="2018-08-24T13:19:27">
     <coordinateInfo>
       <pageSize x="1024" y="1024"/>
       <fbd>
@@ -264,7 +264,7 @@
               <outputVariables/>
             </block>
             <inVariable localId="1" height="30" width="88" executionOrderId="0" negated="false">
-              <position x="59" y="220"/>
+              <position x="59" y="228"/>
               <connectionPointOut>
                 <relPosition x="88" y="15"/>
               </connectionPointOut>
@@ -305,18 +305,18 @@
               <outputVariables/>
             </block>
             <block localId="96" width="80" height="65" typeName="AND" executionOrderId="0">
-              <position x="200" y="182"/>
+              <position x="200" y="190"/>
               <inputVariables>
                 <variable formalParameter="IN1" negated="true">
                   <connectionPointIn>
                     <relPosition x="0" y="31"/>
                     <connection refLocalId="96" formalParameter="OUT">
-                      <position x="200" y="213"/>
-                      <position x="175" y="213"/>
-                      <position x="175" y="167"/>
-                      <position x="305" y="167"/>
-                      <position x="305" y="213"/>
-                      <position x="280" y="213"/>
+                      <position x="200" y="221"/>
+                      <position x="175" y="221"/>
+                      <position x="175" y="175"/>
+                      <position x="305" y="175"/>
+                      <position x="305" y="221"/>
+                      <position x="280" y="221"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -324,8 +324,8 @@
                   <connectionPointIn>
                     <relPosition x="0" y="53"/>
                     <connection refLocalId="1">
-                      <position x="200" y="235"/>
-                      <position x="147" y="235"/>
+                      <position x="200" y="243"/>
+                      <position x="147" y="243"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -340,12 +340,12 @@
               </outputVariables>
             </block>
             <connector name="CLOCK" localId="97" height="30" width="90">
-              <position x="345" y="198"/>
+              <position x="345" y="206"/>
               <connectionPointIn>
                 <relPosition x="0" y="15"/>
                 <connection refLocalId="96" formalParameter="OUT">
-                  <position x="345" y="213"/>
-                  <position x="280" y="213"/>
+                  <position x="345" y="221"/>
+                  <position x="280" y="221"/>
                 </connection>
               </connectionPointIn>
             </connector>
@@ -443,7 +443,7 @@
                 <relPosition x="122" y="15"/>
               </connectionPointOut>
             </continuation>
-            <comment localId="101" height="152" width="816">
+            <comment localId="101" height="164" width="977">
               <position x="27" y="8"/>
               <content>
                 <xhtml:p><![CDATA[This example shows how IEC program in PLC can interact with web interface. 
@@ -458,8 +458,8 @@
 ]]></xhtml:p>
               </content>
             </comment>
-            <comment localId="102" height="101" width="544">
-              <position x="17" y="409"/>
+            <comment localId="102" height="126" width="641">
+              <position x="17" y="397"/>
               <content>
                 <xhtml:p><![CDATA[In this example basic elements like 'Button', 'Led' and 'Text' are used. 
 Back_id and sele_id inputs of these blocks are IDs  of graphic primitives in SVG file. 
diff -r c44692b53736 -r 4d7cee25a474 tests/traffic_lights/plc.xml
--- a/tests/traffic_lights/plc.xml	Tue Oct 02 15:56:09 2018 +0200
+++ b/tests/traffic_lights/plc.xml	Tue Oct 02 15:57:26 2018 +0200
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <project xmlns="http://www.plcopen.org/xml/tc6_0201" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xhtml="http://www.w3.org/1999/xhtml" xsi:schemaLocation="http://www.plcopen.org/xml/tc6_0201">
   <fileHeader companyName="Beremiz" productName="Unnamed" productVersion="1" creationDateTime="2012-09-04T16:16:33"/>
-  <contentHeader name="traffic_lights" modificationDateTime="2016-10-20T13:08:53">
+  <contentHeader name="traffic_lights" modificationDateTime="2018-08-24T13:21:35">
     <coordinateInfo>
       <fbd>
         <scaling x="0" y="0"/>
@@ -120,10 +120,10 @@
           <action name="BLINK_ORANGE_LIGHT">
             <body>
               <LD>
-                <leftPowerRail localId="1" height="40" width="2">
+                <leftPowerRail localId="1" height="40" width="3">
                   <position x="54" y="123"/>
                   <connectionPointOut formalParameter="">
-                    <relPosition x="2" y="20"/>
+                    <relPosition x="3" y="20"/>
                   </connectionPointOut>
                 </leftPowerRail>
                 <contact localId="2" height="15" width="21" negated="true">
@@ -176,10 +176,10 @@
                     </variable>
                   </outputVariables>
                 </block>
-                <inVariable localId="4" height="27" width="72">
+                <inVariable localId="4" height="30" width="72" negated="false">
                   <position x="79" y="171"/>
                   <connectionPointOut>
-                    <relPosition x="72" y="13"/>
+                    <relPosition x="72" y="15"/>
                   </connectionPointOut>
                   <expression>T#500ms</expression>
                 </inVariable>
@@ -233,7 +233,7 @@
                   </connectionPointOut>
                   <variable>ORANGE_LIGHT</variable>
                 </coil>
-                <rightPowerRail localId="7" height="40" width="2">
+                <rightPowerRail localId="7" height="40" width="3">
                   <position x="598" y="123"/>
                   <connectionPointIn>
                     <relPosition x="0" y="20"/>
@@ -257,13 +257,13 @@
                   </connectionPointOut>
                   <variable>ORANGE_LIGHT</variable>
                 </coil>
-                <comment localId="9" height="39" width="308">
-                  <position x="54" y="26"/>
+                <comment localId="9" height="52" width="318">
+                  <position x="51" y="11"/>
                   <content>
                     <xhtml:p><![CDATA[This action makes the orange light blink]]></xhtml:p>
                   </content>
                 </comment>
-                <block localId="10" width="57" height="40" typeName="R_TRIG" instanceName="R_TRIG0">
+                <block localId="10" width="58" height="40" typeName="R_TRIG" instanceName="R_TRIG0">
                   <position x="370" y="262"/>
                   <inputVariables>
                     <variable formalParameter="CLK">
@@ -280,12 +280,12 @@
                   <outputVariables>
                     <variable formalParameter="Q">
                       <connectionPointOut>
-                        <relPosition x="57" y="30"/>
+                        <relPosition x="58" y="30"/>
                       </connectionPointOut>
                     </variable>
                   </outputVariables>
                 </block>
-                <block localId="11" width="57" height="40" typeName="R_TRIG" instanceName="R_TRIG1">
+                <block localId="11" width="58" height="40" typeName="R_TRIG" instanceName="R_TRIG1">
                   <position x="371" y="113"/>
                   <inputVariables>
                     <variable formalParameter="CLK">
@@ -302,12 +302,12 @@
                   <outputVariables>
                     <variable formalParameter="Q">
                       <connectionPointOut>
-                        <relPosition x="57" y="30"/>
+                        <relPosition x="58" y="30"/>
                       </connectionPointOut>
                     </variable>
                   </outputVariables>
                 </block>
-                <rightPowerRail localId="12" height="40" width="2">
+                <rightPowerRail localId="12" height="40" width="3">
                   <position x="597" y="272"/>
                   <connectionPointIn>
                     <relPosition x="0" y="20"/>
@@ -317,10 +317,10 @@
                     </connection>
                   </connectionPointIn>
                 </rightPowerRail>
-                <leftPowerRail localId="13" height="40" width="2">
+                <leftPowerRail localId="13" height="40" width="3">
                   <position x="67" y="272"/>
                   <connectionPointOut formalParameter="">
-                    <relPosition x="2" y="20"/>
+                    <relPosition x="3" y="20"/>
                   </connectionPointOut>
                 </leftPowerRail>
                 <contact localId="14" height="15" width="21">
@@ -337,10 +337,10 @@
                   </connectionPointOut>
                   <variable>ORANGE_LIGHT</variable>
                 </contact>
-                <inVariable localId="15" height="27" width="72">
+                <inVariable localId="15" height="30" width="72" negated="false">
                   <position x="90" y="322"/>
                   <connectionPointOut>
-                    <relPosition x="72" y="13"/>
+                    <relPosition x="72" y="15"/>
                   </connectionPointOut>
                   <expression>T#500ms</expression>
                 </inVariable>
@@ -374,19 +374,21 @@
                     </variable>
                   </outputVariables>
                 </block>
-                <inVariable localId="43" height="27" width="156">
+                <inVariable localId="43" height="30" width="156" executionOrderId="0" negated="false">
                   <position x="46" y="57"/>
                   <connectionPointOut>
-                    <relPosition x="156" y="13"/>
+                    <relPosition x="156" y="15"/>
                   </connectionPointOut>
                   <expression>SWITCH_BUTTON</expression>
                 </inVariable>
-                <outVariable localId="44" height="27" width="46">
+                <outVariable localId="44" height="30" width="46" executionOrderId="0" negated="false">
                   <position x="351" y="57"/>
                   <connectionPointIn>
-                    <relPosition x="0" y="13"/>
+                    <relPosition x="0" y="15"/>
                     <connection refLocalId="42" formalParameter="OUT">
-                      <position x="351" y="70"/>
+                      <position x="351" y="72"/>
+                      <position x="320" y="72"/>
+                      <position x="320" y="70"/>
                       <position x="289" y="70"/>
                     </connection>
                   </connectionPointIn>
@@ -438,7 +440,7 @@
                 </inline>
               </condition>
             </transition>
-            <step localId="3" height="27" width="69" name="ORANGE">
+            <step localId="3" height="30" width="69" name="ORANGE">
               <position x="535" y="252"/>
               <connectionPointIn>
                 <relPosition x="34" y="0"/>
@@ -448,10 +450,10 @@
                 </connection>
               </connectionPointIn>
               <connectionPointOut formalParameter="">
-                <relPosition x="34" y="27"/>
+                <relPosition x="34" y="30"/>
               </connectionPointOut>
               <connectionPointOutAction formalParameter="">
-                <relPosition x="69" y="13"/>
+                <relPosition x="69" y="15"/>
               </connectionPointOutAction>
             </step>
             <transition localId="6" height="2" width="20">
@@ -680,7 +682,7 @@
                 <relPosition x="159" y="1"/>
               </connectionPointOut>
             </selectionDivergence>
-            <step localId="18" height="27" width="148" name="PEDESTRIAN_GREEN">
+            <step localId="18" height="30" width="148" name="PEDESTRIAN_GREEN">
               <position x="495" y="575"/>
               <connectionPointIn>
                 <relPosition x="74" y="0"/>
@@ -690,19 +692,21 @@
                 </connection>
               </connectionPointIn>
               <connectionPointOut formalParameter="">
-                <relPosition x="74" y="27"/>
+                <relPosition x="74" y="30"/>
               </connectionPointOut>
               <connectionPointOutAction formalParameter="">
-                <relPosition x="148" y="13"/>
+                <relPosition x="148" y="15"/>
               </connectionPointOutAction>
             </step>
-            <actionBlock localId="19" width="236" height="110">
+            <actionBlock localId="19" width="247" height="110">
               <position x="708" y="573"/>
               <connectionPointIn>
                 <relPosition x="0" y="15"/>
                 <connection refLocalId="18">
                   <position x="708" y="588"/>
-                  <position x="643" y="588"/>
+                  <position x="675" y="588"/>
+                  <position x="675" y="590"/>
+                  <position x="643" y="590"/>
                 </connection>
               </connectionPointIn>
               <action localId="0" qualifier="S">
@@ -784,7 +788,7 @@
                 </inline>
               </condition>
             </transition>
-            <step localId="24" height="27" width="148" name="PEDESTRIAN_RED">
+            <step localId="24" height="30" width="148" name="PEDESTRIAN_RED">
               <position x="495" y="750"/>
               <connectionPointIn>
                 <relPosition x="74" y="0"/>
@@ -794,19 +798,21 @@
                 </connection>
               </connectionPointIn>
               <connectionPointOut formalParameter="">
-                <relPosition x="74" y="27"/>
+                <relPosition x="74" y="30"/>
               </connectionPointOut>
               <connectionPointOutAction formalParameter="">
-                <relPosition x="148" y="13"/>
+                <relPosition x="148" y="15"/>
               </connectionPointOutAction>
             </step>
-            <actionBlock localId="25" width="233" height="110">
+            <actionBlock localId="25" width="239" height="110">
               <position x="708" y="748"/>
               <connectionPointIn>
                 <relPosition x="0" y="15"/>
                 <connection refLocalId="24">
                   <position x="708" y="763"/>
-                  <position x="643" y="763"/>
+                  <position x="675" y="763"/>
+                  <position x="675" y="765"/>
+                  <position x="643" y="765"/>
                 </connection>
               </connectionPointIn>
               <action localId="0" qualifier="S">
@@ -889,7 +895,7 @@
                 </inline>
               </condition>
             </transition>
-            <step localId="30" height="27" width="56" name="GREEN">
+            <step localId="30" height="30" width="56" name="GREEN">
               <position x="541" y="933"/>
               <connectionPointIn>
                 <relPosition x="28" y="0"/>
@@ -899,10 +905,10 @@
                 </connection>
               </connectionPointIn>
               <connectionPointOut formalParameter="">
-                <relPosition x="28" y="27"/>
+                <relPosition x="28" y="30"/>
               </connectionPointOut>
               <connectionPointOutAction formalParameter="">
-                <relPosition x="56" y="13"/>
+                <relPosition x="56" y="15"/>
               </connectionPointOutAction>
             </step>
             <actionBlock localId="31" width="227" height="110">
@@ -965,17 +971,17 @@
                 </variable>
               </outputVariables>
             </block>
-            <inVariable localId="33" height="27" width="159">
+            <inVariable localId="33" height="30" width="159" negated="false">
               <position x="24" y="1052"/>
               <connectionPointOut>
-                <relPosition x="159" y="13"/>
+                <relPosition x="159" y="15"/>
               </connectionPointOut>
               <expression>PEDESTRIAN_BUTTON</expression>
             </inVariable>
-            <inVariable localId="34" height="27" width="43">
+            <inVariable localId="34" height="30" width="43" negated="false">
               <position x="227" y="1115"/>
               <connectionPointOut>
-                <relPosition x="43" y="13"/>
+                <relPosition x="43" y="15"/>
               </connectionPointOut>
               <expression>T#2s</expression>
             </inVariable>
@@ -1012,10 +1018,10 @@
                 </variable>
               </outputVariables>
             </block>
-            <inVariable localId="36" height="27" width="97">
+            <inVariable localId="36" height="30" width="97" negated="false">
               <position x="163" y="1182"/>
               <connectionPointOut>
-                <relPosition x="97" y="13"/>
+                <relPosition x="97" y="15"/>
               </connectionPointOut>
               <expression>WARN_CARS</expression>
             </inVariable>
@@ -1086,7 +1092,7 @@
                 </connection>
               </connectionPointIn>
             </jumpStep>
-            <block localId="44" width="50" height="60" typeName="SR" instanceName="SR0">
+            <block localId="44" width="51" height="60" typeName="SR" instanceName="SR0">
               <position x="224" y="1035"/>
               <inputVariables>
                 <variable formalParameter="S1">
@@ -1094,7 +1100,9 @@
                     <relPosition x="0" y="30"/>
                     <connection refLocalId="33">
                       <position x="224" y="1065"/>
-                      <position x="183" y="1065"/>
+                      <position x="203" y="1065"/>
+                      <position x="203" y="1067"/>
+                      <position x="183" y="1067"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -1116,12 +1124,12 @@
               <outputVariables>
                 <variable formalParameter="Q1">
                   <connectionPointOut>
-                    <relPosition x="50" y="30"/>
+                    <relPosition x="51" y="30"/>
                   </connectionPointOut>
                 </variable>
               </outputVariables>
             </block>
-            <comment localId="45" height="681" width="645">
+            <comment localId="45" height="907" width="645">
               <position x="1021" y="21"/>
               <content>
                 <xhtml:p><![CDATA[*** Description of SFC action qualifiers ***
@@ -1168,7 +1176,7 @@
 ]]></xhtml:p>
               </content>
             </comment>
-            <comment localId="46" height="160" width="375">
+            <comment localId="46" height="224" width="375">
               <position x="8" y="326"/>
               <content>
                 <xhtml:p><![CDATA[Conditions can be written in any IEC 61131-3 language.
@@ -1200,7 +1208,7 @@
               </connectionPointOut>
               <variable>SWITCH_BUTTON</variable>
             </contact>
-            <comment localId="13" height="66" width="375">
+            <comment localId="13" height="86" width="379">
               <position x="9" y="28"/>
               <content>
                 <xhtml:p><![CDATA[
@@ -1257,7 +1265,7 @@
         </interface>
         <body>
           <FBD>
-            <block localId="1" width="349" height="836" typeName="traffic_light_sequence" instanceName="trafic_light_sequence0" executionOrderId="0">
+            <block localId="1" width="350" height="836" typeName="traffic_light_sequence" instanceName="trafic_light_sequence0" executionOrderId="0">
               <position x="470" y="406"/>
               <inputVariables>
                 <variable formalParameter="SWITCH_BUTTON">
@@ -1285,27 +1293,27 @@
               <outputVariables>
                 <variable formalParameter="RED_LIGHT">
                   <connectionPointOut>
-                    <relPosition x="349" y="101"/>
+                    <relPosition x="350" y="101"/>
                   </connectionPointOut>
                 </variable>
                 <variable formalParameter="ORANGE_LIGHT">
                   <connectionPointOut>
-                    <relPosition x="349" y="264"/>
+                    <relPosition x="350" y="264"/>
                   </connectionPointOut>
                 </variable>
                 <variable formalParameter="GREEN_LIGHT">
                   <connectionPointOut>
-                    <relPosition x="349" y="427"/>
+                    <relPosition x="350" y="427"/>
                   </connectionPointOut>
                 </variable>
                 <variable formalParameter="PEDESTRIAN_RED_LIGHT">
                   <connectionPointOut>
-                    <relPosition x="349" y="590"/>
+                    <relPosition x="350" y="590"/>
                   </connectionPointOut>
                 </variable>
                 <variable formalParameter="PEDESTRIAN_GREEN_LIGHT">
                   <connectionPointOut>
-                    <relPosition x="349" y="753"/>
+                    <relPosition x="350" y="753"/>
                   </connectionPointOut>
                 </variable>
               </outputVariables>
@@ -1406,38 +1414,38 @@
                 </variable>
               </outputVariables>
             </block>
-            <inVariable localId="4" height="27" width="18" executionOrderId="0" negated="false">
+            <inVariable localId="4" height="30" width="18" executionOrderId="0" negated="false">
               <position x="118" y="558"/>
               <connectionPointOut>
-                <relPosition x="18" y="13"/>
+                <relPosition x="18" y="15"/>
               </connectionPointOut>
               <expression>1</expression>
             </inVariable>
-            <inVariable localId="5" height="27" width="105" executionOrderId="0" negated="false">
+            <inVariable localId="5" height="30" width="105" executionOrderId="0" negated="false">
               <position x="31" y="494"/>
               <connectionPointOut>
-                <relPosition x="105" y="13"/>
+                <relPosition x="105" y="15"/>
               </connectionPointOut>
               <expression>'SWITCH_OFF'</expression>
             </inVariable>
-            <inVariable localId="6" height="27" width="105" executionOrderId="0" negated="false">
+            <inVariable localId="6" height="30" width="105" executionOrderId="0" negated="false">
               <position x="31" y="526"/>
               <connectionPointOut>
-                <relPosition x="105" y="13"/>
+                <relPosition x="105" y="15"/>
               </connectionPointOut>
               <expression>'SWITCH_ON'</expression>
             </inVariable>
-            <inVariable localId="7" height="27" width="137" executionOrderId="0" negated="false">
+            <inVariable localId="7" height="30" width="137" executionOrderId="0" negated="false">
               <position x="22" y="708"/>
               <connectionPointOut>
-                <relPosition x="137" y="13"/>
+                <relPosition x="137" y="15"/>
               </connectionPointOut>
               <expression>'PEDESTRIAN_OFF'</expression>
             </inVariable>
-            <inVariable localId="8" height="27" width="137" executionOrderId="0" negated="false">
+            <inVariable localId="8" height="30" width="137" executionOrderId="0" negated="false">
               <position x="22" y="743"/>
               <connectionPointOut>
-                <relPosition x="137" y="13"/>
+                <relPosition x="137" y="15"/>
               </connectionPointOut>
               <expression>'PEDESTRIAN_ON'</expression>
             </inVariable>
@@ -1475,17 +1483,17 @@
               <inOutVariables/>
               <outputVariables/>
             </block>
-            <inVariable localId="10" height="27" width="79" executionOrderId="0" negated="false">
+            <inVariable localId="10" height="30" width="79" executionOrderId="0" negated="false">
               <position x="931" y="420"/>
               <connectionPointOut>
-                <relPosition x="79" y="13"/>
+                <relPosition x="79" y="15"/>
               </connectionPointOut>
               <expression>'RED_OFF'</expression>
             </inVariable>
-            <inVariable localId="11" height="27" width="79" executionOrderId="0" negated="false">
+            <inVariable localId="11" height="30" width="79" executionOrderId="0" negated="false">
               <position x="931" y="457"/>
               <connectionPointOut>
-                <relPosition x="79" y="13"/>
+                <relPosition x="79" y="15"/>
               </connectionPointOut>
               <expression>'RED_ON'</expression>
             </inVariable>
@@ -1523,17 +1531,17 @@
               <inOutVariables/>
               <outputVariables/>
             </block>
-            <inVariable localId="13" height="27" width="111" executionOrderId="0" negated="false">
+            <inVariable localId="13" height="30" width="111" executionOrderId="0" negated="false">
               <position x="899" y="583"/>
               <connectionPointOut>
-                <relPosition x="111" y="13"/>
+                <relPosition x="111" y="15"/>
               </connectionPointOut>
               <expression>'ORANGE_OFF'</expression>
             </inVariable>
-            <inVariable localId="14" height="27" width="106" executionOrderId="0" negated="false">
+            <inVariable localId="14" height="30" width="106" executionOrderId="0" negated="false">
               <position x="904" y="620"/>
               <connectionPointOut>
-                <relPosition x="106" y="13"/>
+                <relPosition x="106" y="15"/>
               </connectionPointOut>
               <expression>'ORANGE_ON'</expression>
             </inVariable>
@@ -1571,17 +1579,17 @@
               <inOutVariables/>
               <outputVariables/>
             </block>
-            <inVariable localId="16" height="27" width="111" executionOrderId="0" negated="false">
+            <inVariable localId="16" height="30" width="111" executionOrderId="0" negated="false">
               <position x="899" y="746"/>
               <connectionPointOut>
-                <relPosition x="111" y="13"/>
+                <relPosition x="111" y="15"/>
               </connectionPointOut>
               <expression>'GREEN_OFF'</expression>
             </inVariable>
-            <inVariable localId="17" height="27" width="106" executionOrderId="0" negated="false">
+            <inVariable localId="17" height="30" width="106" executionOrderId="0" negated="false">
               <position x="904" y="783"/>
               <connectionPointOut>
-                <relPosition x="106" y="13"/>
+                <relPosition x="106" y="15"/>
               </connectionPointOut>
               <expression>'GREEN_ON'</expression>
             </inVariable>
@@ -1619,17 +1627,17 @@
               <inOutVariables/>
               <outputVariables/>
             </block>
-            <inVariable localId="19" height="27" width="171" executionOrderId="0" negated="false">
+            <inVariable localId="19" height="30" width="171" executionOrderId="0" negated="false">
               <position x="849" y="909"/>
               <connectionPointOut>
-                <relPosition x="171" y="13"/>
+                <relPosition x="171" y="15"/>
               </connectionPointOut>
               <expression>'PEDESTRIAN_RED_OFF'</expression>
             </inVariable>
-            <inVariable localId="20" height="27" width="166" executionOrderId="0" negated="false">
+            <inVariable localId="20" height="30" width="166" executionOrderId="0" negated="false">
               <position x="854" y="946"/>
               <connectionPointOut>
-                <relPosition x="166" y="13"/>
+                <relPosition x="166" y="15"/>
               </connectionPointOut>
               <expression>'PEDESTRIAN_RED_ON'</expression>
             </inVariable>
@@ -1667,21 +1675,21 @@
               <inOutVariables/>
               <outputVariables/>
             </block>
-            <inVariable localId="22" height="27" width="190" executionOrderId="0" negated="false">
+            <inVariable localId="22" height="30" width="190" executionOrderId="0" negated="false">
               <position x="845" y="1072"/>
               <connectionPointOut>
-                <relPosition x="190" y="13"/>
+                <relPosition x="190" y="15"/>
               </connectionPointOut>
               <expression>'PEDESTRIAN_GREEN_OFF'</expression>
             </inVariable>
-            <inVariable localId="23" height="27" width="185" executionOrderId="0" negated="false">
+            <inVariable localId="23" height="30" width="185" executionOrderId="0" negated="false">
               <position x="850" y="1109"/>
               <connectionPointOut>
-                <relPosition x="185" y="13"/>
+                <relPosition x="185" y="15"/>
               </connectionPointOut>
               <expression>'PEDESTRIAN_GREEN_ON'</expression>
             </inVariable>
-            <comment localId="24" height="262" width="804">
+            <comment localId="24" height="287" width="1008">
               <position x="22" y="13"/>
               <content>
                 <xhtml:p><![CDATA[This example implements control of traffic lights.
@@ -1703,8 +1711,8 @@
 ]]></xhtml:p>
               </content>
             </comment>
-            <comment localId="102" height="126" width="411">
-              <position x="20" y="319"/>
+            <comment localId="102" height="144" width="444">
+              <position x="20" y="303"/>
               <content>
                 <xhtml:p><![CDATA[In this example FB like 'Button', 'Led' and 'Text' are used. 
 Back_id and sele_id inputs of these blocks are IDs  of 
diff -r c44692b53736 -r 4d7cee25a474 tests/wamp/README
--- a/tests/wamp/README	Tue Oct 02 15:56:09 2018 +0200
+++ b/tests/wamp/README	Tue Oct 02 15:57:26 2018 +0200
@@ -9,9 +9,10 @@
 /* Crossbar install */
 #sudo apt-get update
 #sudo apt-get -y dist-upgrade
-sudo apt-get -y install build-essential libssl-dev libffi-dev libreadline-dev libbz2-dev libsqlite3-dev libncurses5-dev
-sudo python -m pip install -U pip
-sudo pip install crossbar
+sudo apt-get -y install build-essential libssl-dev libffi-dev libreadline-dev libbz2-dev libsqlite3-dev libncurses5dev
+sudo apt-get -y install python3-pip
+sudo python3 -m pip install -U pip
+sudo pip3 install crossbar
 crossbar version
 
 /* Start Crossbar command: */
@@ -19,8 +20,23 @@
 
 /* Crossbar test router configuration is available in .crossbar directory. */
 Tested on version:
- Crossbar.io        : 18.3.1 (Crossbar.io COMMUNITY)
-   Autobahn         : 18.3.1 (with JSON, MessagePack, CBOR, UBJSON)
-   Twisted          : 17.9.0-EPollReactor
-   LMDB             : 0.93/lmdb-0.9.18
-   Python           : 2.7.12/CPython
\ No newline at end of file
+
+    :::::::::::::::::
+          :::::          _____                      __
+    :::::   :   :::::   / ___/____ ___   ___  ___  / /  ___ _ ____
+    :::::::   :::::::  / /__ / __// _ \ (_-< (_-< / _ \/ _ `// __/
+    :::::   :   :::::  \___//_/   \___//___//___//_.__/\_,_//_/
+          :::::
+    :::::::::::::::::   Crossbar v18.7.2
+
+    Copyright (c) 2013-2018 Crossbar.io Technologies GmbH, licensed under AGPL 3.0.
+
+ Crossbar.io        : 18.7.2
+   Autobahn         : 18.7.1
+   Twisted          : 18.7.0-EPollReactor
+   LMDB             : 0.94/lmdb-0.9.22
+   Python           : 3.6.6/CPython
+ Frozen executable  : no
+ Operating system   : Linux-4.16.0-2-rt-amd64-x86_64-with-debian-buster-sid
+ Host machine       : x86_64
+ Release key        : RWS9T4NltFjmKSMbEtETnOMxRjLhOEZ6e80T5MYzTTh/+NP9Jk20sJmA
diff -r c44692b53736 -r 4d7cee25a474 tests/wamp/beremiz.xml
--- a/tests/wamp/beremiz.xml	Tue Oct 02 15:56:09 2018 +0200
+++ b/tests/wamp/beremiz.xml	Tue Oct 02 15:57:26 2018 +0200
@@ -1,4 +1,4 @@
 <?xml version='1.0' encoding='utf-8'?>
-<BeremizRoot xmlns:xsd="http://www.w3.org/2001/XMLSchema" URI_location="WAMP://127.0.0.1:8888#Automation#WampID">
+<BeremizRoot xmlns:xsd="http://www.w3.org/2001/XMLSchema" URI_location="WAMP://127.0.0.1:8888#Automation#wamptest">
   <TargetType/>
 </BeremizRoot>
diff -r c44692b53736 -r 4d7cee25a474 tests/wamp/plc.xml
--- a/tests/wamp/plc.xml	Tue Oct 02 15:56:09 2018 +0200
+++ b/tests/wamp/plc.xml	Tue Oct 02 15:57:26 2018 +0200
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <project xmlns:ns1="http://www.plcopen.org/xml/tc6_0201" xmlns:xhtml="http://www.w3.org/1999/xhtml" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns="http://www.plcopen.org/xml/tc6_0201">
   <fileHeader companyName="Beremiz" productName="Beremiz" productVersion="1" creationDateTime="2015-02-05T11:44:55" contentDescription=" &#10;&#10;"/>
-  <contentHeader name="WAMPTest" modificationDateTime="2015-02-18T23:59:50">
+  <contentHeader name="WAMPTest" modificationDateTime="2018-08-27T11:11:30">
     <coordinateInfo>
       <fbd>
         <scaling x="0" y="0"/>
@@ -24,6 +24,9 @@
               <type>
                 <DINT/>
               </type>
+              <initialValue>
+                <simpleValue value="1"/>
+              </initialValue>
             </variable>
           </localVars>
           <externalVars>
@@ -41,22 +44,22 @@
         </interface>
         <body>
           <FBD>
-            <inVariable localId="1" executionOrderId="0" height="25" width="55" negated="false">
-              <position x="144" y="70"/>
+            <inVariable localId="1" executionOrderId="0" height="30" width="55" negated="false">
+              <position x="57" y="540"/>
               <connectionPointOut>
-                <relPosition x="55" y="12"/>
+                <relPosition x="55" y="15"/>
               </connectionPointOut>
               <expression>PyVar0</expression>
             </inVariable>
-            <block localId="3" typeName="ADD" executionOrderId="0" height="60" width="65">
-              <position x="245" y="52"/>
+            <block localId="3" typeName="ADD" executionOrderId="0" height="60" width="67">
+              <position x="168" y="525"/>
               <inputVariables>
                 <variable formalParameter="IN1">
                   <connectionPointIn>
                     <relPosition x="0" y="30"/>
                     <connection refLocalId="1">
-                      <position x="245" y="82"/>
-                      <position x="199" y="82"/>
+                      <position x="168" y="555"/>
+                      <position x="112" y="555"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -64,10 +67,10 @@
                   <connectionPointIn>
                     <relPosition x="0" y="50"/>
                     <connection refLocalId="4">
-                      <position x="245" y="102"/>
-                      <position x="228" y="102"/>
-                      <position x="228" y="113"/>
-                      <position x="198" y="113"/>
+                      <position x="168" y="575"/>
+                      <position x="151" y="575"/>
+                      <position x="151" y="595"/>
+                      <position x="112" y="595"/>
                     </connection>
                   </connectionPointIn>
                 </variable>
@@ -76,28 +79,63 @@
               <outputVariables>
                 <variable formalParameter="OUT">
                   <connectionPointOut>
-                    <relPosition x="65" y="30"/>
+                    <relPosition x="67" y="30"/>
                   </connectionPointOut>
                 </variable>
               </outputVariables>
             </block>
-            <inVariable localId="4" executionOrderId="0" height="25" width="73" negated="false">
-              <position x="125" y="101"/>
+            <inVariable localId="4" executionOrderId="0" height="30" width="73" negated="false">
+              <position x="39" y="580"/>
               <connectionPointOut>
-                <relPosition x="73" y="12"/>
+                <relPosition x="73" y="15"/>
               </connectionPointOut>
               <expression>LocalVar0</expression>
             </inVariable>
-            <outVariable localId="2" executionOrderId="0" height="25" width="55" negated="false">
-              <position x="344" y="70"/>
+            <comment localId="5" height="459" width="788">
+              <position x="23" y="10"/>
+              <content>
+                <xhtml:p><![CDATA[Communication between Beremiz and PLC runtime isn't bound to any specific protocol and could be extended by writing corresponding connector (see 'connectors' directory).
+Beremiz reference runtime implementation supports PYRO and WAMP protocols.
+This example shows how to use Web Application Messaging Protocol (WAMP).
+
+WAMP can be used to build distributed systems out of application components which are loosely coupled and communicate in real-time. No direct connection between IDE and PLC are necessary.
+
+WAMP is in a process to be published as official IETF standard. Draft specification is already available on IETF website.
+	
+To use this example you need WAMP router and standalone running Beremiz_service.
+1. See README file in project's directory with detailed instructions for
+setup Crossbar.io, router for open Web Application Messaging Protocol (WAMP).
+2. Run crossbar
+3. Create service working directory and copy wampconf.json from project_files to created directory
+4. Run Beremiz_service:
+./Beremiz_service.py -x 0 <working directory>
+]]></xhtml:p>
+              </content>
+            </comment>
+            <inOutVariable localId="2" executionOrderId="0" height="30" width="55" negatedOut="false" negatedIn="false">
+              <position x="270" y="540"/>
               <connectionPointIn>
-                <relPosition x="0" y="12"/>
+                <relPosition x="0" y="15"/>
                 <connection refLocalId="3" formalParameter="OUT">
-                  <position x="344" y="82"/>
-                  <position x="310" y="82"/>
+                  <position x="270" y="555"/>
+                  <position x="235" y="555"/>
                 </connection>
               </connectionPointIn>
+              <connectionPointOut>
+                <relPosition x="55" y="15"/>
+              </connectionPointOut>
               <expression>PyVar1</expression>
+            </inOutVariable>
+            <outVariable localId="6" executionOrderId="0" height="30" width="55" negated="false">
+              <position x="362" y="540"/>
+              <connectionPointIn>
+                <relPosition x="0" y="15"/>
+                <connection refLocalId="2">
+                  <position x="362" y="555"/>
+                  <position x="325" y="555"/>
+                </connection>
+              </connectionPointIn>
+              <expression>PyVar0</expression>
             </outVariable>
           </FBD>
         </body>
diff -r c44692b53736 -r 4d7cee25a474 tests/wxHMI/HMI@wxglade_hmi/baseconfnode.xml
--- a/tests/wxHMI/HMI@wxglade_hmi/baseconfnode.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-<?xml version='1.0' encoding='utf-8'?>
-<BaseParams Name="HMI" IEC_Channel="0"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/wxHMI/HMI@wxglade_hmi/hmi.wxg
--- a/tests/wxHMI/HMI@wxglade_hmi/hmi.wxg	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,95 +0,0 @@
-<?xml version="1.0"?>
-<!-- generated by wxGlade 0.7.2 on Tue Jun  6 12:26:48 2017 -->
-
-<application class="" encoding="UTF-8" for_version="2.8" header_extension=".h" indent_amount="4" indent_symbol="space" is_template="0" language="python" name="" option="0" overwrite="0" path="..py.py" source_extension=".cpp" top_window="wxglade_hmi" use_gettext="1" use_new_namespace="1">
-    <object class="Class_wxglade_hmi" name="wxglade_hmi" base="EditFrame">
-        <style>wxDEFAULT_FRAME_STYLE|wxMAXIMIZE</style>
-        <title>frame_1</title>
-        <object class="wxFlexGridSizer" name="grid_sizer_1" base="EditFlexGridSizer">
-            <hgap>0</hgap>
-            <growable_rows>0</growable_rows>
-            <rows>1</rows>
-            <growable_cols>0</growable_cols>
-            <cols>4</cols>
-            <vgap>0</vgap>
-            <object class="sizeritem">
-                <flag>wxALIGN_CENTER</flag>
-                <border>0</border>
-                <option>1</option>
-                <object class="ThreeDee" name="window_1" base="CustomWidget">
-                    <extracode># WHERE IS THAT ?\nprint "hello"\n</extracode>
-                    <arguments>
-                        <argument>$parent</argument>
-                        <argument>$id</argument>
-                    </arguments>
-                    <size>400,400</size>
-                </object>
-            </object>
-            <object class="sizeritem">
-                <flag>wxEXPAND</flag>
-                <border>0</border>
-                <option>1</option>
-                <object class="wxFlexGridSizer" name="sizer_1" base="EditFlexGridSizer">
-                    <hgap>0</hgap>
-                    <growable_rows>0</growable_rows>
-                    <rows>2</rows>
-                    <cols>1</cols>
-                    <vgap>0</vgap>
-                    <object class="sizeritem">
-                        <flag>wxEXPAND</flag>
-                        <border>0</border>
-                        <option>1</option>
-                        <object class="wxBoxSizer" name="sizer_2" base="EditBoxSizer">
-                            <orient>wxVERTICAL</orient>
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                        </object>
-                    </object>
-                    <object class="sizeritem">
-                        <flag>wxEXPAND</flag>
-                        <border>0</border>
-                        <option>1</option>
-                        <object class="wxGridSizer" name="sizer_3" base="EditGridSizer">
-                            <hgap>0</hgap>
-                            <rows>6</rows>
-                            <cols>2</cols>
-                            <vgap>0</vgap>
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                        </object>
-                    </object>
-                </object>
-            </object>
-            <object class="sizeritem">
-                <border>0</border>
-                <option>0</option>
-                <object class="wxToggleButton" name="DrawTestBt" base="EditToggleButton">
-                    <label>Please Draw!</label>
-                    <events>
-                        <handler event="EVT_TOGGLEBUTTON">SetPLCTestBtnGlobalVar</handler>
-                    </events>
-                </object>
-            </object>
-            <object class="sizeritem">
-                <border>0</border>
-                <option>0</option>
-                <object class="wxToggleButton" name="DrawTestBt2" base="EditToggleButton">
-                    <label>Please Draw copy!</label>
-                    <events>
-                        <handler event="EVT_TOGGLEBUTTON">SetPLCTestBtn2GlobalVar</handler>
-                    </events>
-                </object>
-            </object>
-        </object>
-    </object>
-</application>
diff -r c44692b53736 -r 4d7cee25a474 tests/wxHMI/HMI@wxglade_hmi/hmi.wxg.bak
--- a/tests/wxHMI/HMI@wxglade_hmi/hmi.wxg.bak	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,71 +0,0 @@
-<?xml version="1.0"?>
-<!-- generated by wxGlade HG on Wed Oct 02 23:48:24 2013 -->
-
-<application path="" name="" class="" option="0" language="python" top_window="wxglade_hmi" encoding="UTF-8" use_gettext="0" overwrite="0" use_new_namespace="1" for_version="2.8" is_template="0" indent_amount="4" indent_symbol="space" source_extension=".cpp" header_extension=".h">
-    <object class="Class_wxglade_hmi" name="wxglade_hmi" base="EditFrame">
-        <style>wxCAPTION|wxCLOSE_BOX|wxMINIMIZE_BOX|wxMAXIMIZE|wxMAXIMIZE_BOX|wxSYSTEM_MENU|wxRESIZE_BORDER|wxCLIP_CHILDREN</style>
-        <title>frame_1</title>
-        <object class="wxFlexGridSizer" name="grid_sizer_1" base="EditFlexGridSizer">
-            <hgap>0</hgap>
-            <growable_rows>0</growable_rows>
-            <rows>1</rows>
-            <growable_cols>0</growable_cols>
-            <cols>2</cols>
-            <vgap>0</vgap>
-            <object class="sizeritem">
-                <flag>wxEXPAND</flag>
-                <border>0</border>
-                <option>1</option>
-                <object class="ThreeDee" name="window_1" base="CustomWidget">
-                    <arguments>
-                        <argument>$parent</argument>
-                        <argument>$id</argument>
-                    </arguments>
-                    <size>400,400</size>
-                </object>
-            </object>
-            <object class="sizeritem">
-                <flag>wxEXPAND</flag>
-                <border>0</border>
-                <option>1</option>
-                <object class="wxFlexGridSizer" name="sizer_1" base="EditFlexGridSizer">
-                    <hgap>0</hgap>
-                    <rows>2</rows>
-                    <cols>1</cols>
-                    <vgap>0</vgap>
-                    <object class="sizeritem">
-                        <flag>wxEXPAND</flag>
-                        <border>0</border>
-                        <option>1</option>
-                        <object class="wxBoxSizer" name="sizer_2" base="EditBoxSizer">
-                            <orient>wxVERTICAL</orient>
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                        </object>
-                    </object>
-                    <object class="sizeritem">
-                        <flag>wxEXPAND</flag>
-                        <border>0</border>
-                        <option>1</option>
-                        <object class="wxGridSizer" name="sizer_3" base="EditGridSizer">
-                            <hgap>0</hgap>
-                            <rows>4</rows>
-                            <cols>2</cols>
-                            <vgap>0</vgap>
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                            <object class="sizerslot" />
-                        </object>
-                    </object>
-                </object>
-            </object>
-        </object>
-    </object>
-</application>
diff -r c44692b53736 -r 4d7cee25a474 tests/wxHMI/HMI@wxglade_hmi/pyfile.xml
--- a/tests/wxHMI/HMI@wxglade_hmi/pyfile.xml	Tue Oct 02 15:56:09 2018 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,140 +0,0 @@
-<?xml version='1.0' encoding='utf-8'?>
-<PyFile xmlns:xhtml="http://www.w3.org/1999/xhtml">
-  <variables>
-    <variable name="Power_ON" type="BOOL"/>
-    <variable name="Power_OFF" type="BOOL"/>
-    <variable name="DrawTest" type="BOOL"/>
-    <variable name="DrawLogo" type="BOOL"/>
-    <variable name="DrawEscher" type="BOOL"/>
-    <variable name="Detect_Circle" type="BOOL"/>
-    <variable name="XaxisPos" type="INT"/>
-    <variable name="YaxisPos" type="INT"/>
-    <variable name="ZaxisPos" type="INT"/>
-    <variable name="TaxisPos" type="INT"/>
-    <variable name="XaxisMinus" type="BOOL"/>
-    <variable name="YaxisMinus" type="BOOL"/>
-    <variable name="ZaxisMinus" type="BOOL"/>
-    <variable name="TaxisMinus" type="BOOL"/>
-    <variable name="XaxisPlus" type="BOOL"/>
-    <variable name="YaxisPlus" type="BOOL"/>
-    <variable name="ZaxisPlus" type="BOOL"/>
-    <variable name="TaxisPlus" type="BOOL"/>
-    <variable name="DrawTestBtn" type="BOOL"/>
-    <variable name="DrawTestBtn2" type="BOOL"/>
-  </variables>
-  <globals>
-    <xhtml:p><![CDATA[
-import ctypes
-import wx, sys
-
-AxisList = ["X","Y","Z","T"]
-
-PwrButtons = ['Power_ON',
-              'Power_OFF']
-
-ActionButtons = ['Detect_Circle',
-                 'DrawTest',
-                 'DrawLogo',
-                 'DrawEscher']
-
-class ThreeDee(wx.StaticText):
-    def __init__(self, *args, **kwargs):
-        self.initialized = False
-        kwargs["style"] = wx.ALIGN_CENTRE_HORIZONTAL
-        super(ThreeDee, self).__init__(*args, **kwargs)
-
-        self.SetFont(wx.Font(24, wx.SWISS, wx.NORMAL, wx.BOLD))
-        
-        self.positions = [0.]*4
-
-        self.Message = None
-        self.NegLimits = None
-        self.Disk = None
-
-
-    def UpdatePositions(self, positions):
-        # get globals from PLC
-        self.positions = positions
-        self.SetLabel(
-            ((self.Message  +'\n\n') if self.Message else '' )+
-            " ".join(["%s %+.2f"%(axis,self.positions[i])
-                          for i,axis in enumerate(AxisList)]))
-
-def MakeButtonFunc(window, sizer, btname):
-    def ButtonDown(event):
-        setattr(PLCGlobals,btname,1)
-        event.Skip()
-    def ButtonUp(event):
-        setattr(PLCGlobals,btname,0)
-        event.Skip()
-    obj = wx.BitmapButton(window, -1, wx.Bitmap('%s.png'%btname))
-    sizer.Add(obj, 2, wx.EXPAND, 0)
-    obj.Bind(wx.EVT_LEFT_DOWN, ButtonDown)
-    obj.Bind(wx.EVT_LEFT_UP, ButtonUp)
-    return obj
-
-def UpdPos(self):
-    positions = [getattr(PLCGlobals,axname+"axisPos") for axname in AxisList]
-
-    self.window_1.UpdatePositions(positions)
-
-Class_wxglade_hmi.UpdPos = UpdPos
-
-
-#def UpdatePositions(self, event):
-#
-#    positions = [getattr(PLCGlobals,axname+"axisPos") for axname in AxisList]
-#
-#    self.window_1.UpdatePositions(positions)
-#
-#    event.Skip()
-
-#Class_wxglade_hmi.UpdatePositions = UpdatePositions
-
-initorig = Class_wxglade_hmi.__init__
-def Init(self,*args,**kargs):
-    initorig(self,*args,**kargs)
-    sizer = self.GetSizer().GetItem(1).GetSizer().GetItem(0).GetSizer()
-    self.main_buttons = map(
-        lambda btname: MakeButtonFunc(self, sizer, btname), PwrButtons)
-    sizer = self.GetSizer().GetItem(1).GetSizer().GetItem(1).GetSizer()
-    self.main_buttons = map(
-        lambda btname: MakeButtonFunc(self, sizer, btname), ActionButtons)
-    self.axis_buttons = map(
-        lambda axis:( MakeButtonFunc(self, sizer, axis+"axisMinus"), 
-                        MakeButtonFunc(self, sizer, axis+"axisPlus")),
-        AxisList)
-
-    
-    # self.timer = wx.Timer(self, -1)
-    # self.Bind(wx.EVT_TIMER, self.UpdatePositions, self.timer)
-    # self.ShowFullScreen(True,wx.FULLSCREEN_ALL)
-    # wx.CallAfter(self.timer.Start,200)
-    
-Class_wxglade_hmi.__init__ = Init
-
-def SetPLCTestBtnGlobalVar(self, evt):
-    setattr(PLCGlobals, "DrawTestBtn", evt.GetEventObject().GetValue())
-
-def SetPLCTestBtn2GlobalVar(self, evt):
-    setattr(PLCGlobals, "DrawTestBtn2", evt.GetEventObject().GetValue())
-
-]]></xhtml:p>
-  </globals>
-  <init>
-    <xhtml:p><![CDATA[
-]]></xhtml:p>
-  </init>
-  <cleanup>
-    <xhtml:p><![CDATA[
-]]></xhtml:p>
-  </cleanup>
-  <start>
-    <xhtml:p><![CDATA[
-]]></xhtml:p>
-  </start>
-  <stop>
-    <xhtml:p><![CDATA[
-]]></xhtml:p>
-  </stop>
-</PyFile>
diff -r c44692b53736 -r 4d7cee25a474 tests/wxHMI/wxglade_hmi@wxglade_hmi/baseconfnode.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/wxHMI/wxglade_hmi@wxglade_hmi/baseconfnode.xml	Tue Oct 02 15:57:26 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='utf-8'?>
+<BaseParams Name="wxglade_hmi" IEC_Channel="0"/>
diff -r c44692b53736 -r 4d7cee25a474 tests/wxHMI/wxglade_hmi@wxglade_hmi/hmi.wxg
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/wxHMI/wxglade_hmi@wxglade_hmi/hmi.wxg	Tue Oct 02 15:57:26 2018 +0200
@@ -0,0 +1,96 @@
+<?xml version="1.0"?>
+<!-- generated by wxGlade 0.8.3 on Mon Aug 13 17:04:28 2018 -->
+
+<application encoding="UTF-8" for_version="3.0" header_extension=".h" indent_amount="4" indent_symbol="space" is_template="0" language="python" option="0" overwrite="0" path="..py.py" source_extension=".cpp" top_window="wxglade_hmi" use_gettext="1" use_new_namespace="1">
+    <object class="Class_wxglade_hmi" name="wxglade_hmi" base="EditFrame">
+        <title>frame_1</title>
+        <style>wxDEFAULT_FRAME_STYLE|wxMAXIMIZE</style>
+        <object class="wxFlexGridSizer" name="grid_sizer_1" base="EditFlexGridSizer">
+            <rows>1</rows>
+            <cols>4</cols>
+            <vgap>0</vgap>
+            <hgap>0</hgap>
+            <growable_rows>0</growable_rows>
+            <growable_cols>0</growable_cols>
+            <object class="sizeritem">
+                <option>1</option>
+                <border>0</border>
+                <flag>wxALIGN_CENTER</flag>
+                <object class="ThreeDee" name="window_1" base="CustomWidget">
+                    <size>400,400</size>
+                    <arguments>
+                        <argument>$parent</argument>
+                        <argument>$id</argument>
+                    </arguments>
+                </object>
+            </object>
+            <object class="sizeritem">
+                <option>1</option>
+                <border>0</border>
+                <flag>wxEXPAND</flag>
+                <object class="wxFlexGridSizer" name="sizer_1" base="EditFlexGridSizer">
+                    <rows>2</rows>
+                    <cols>1</cols>
+                    <vgap>0</vgap>
+                    <hgap>0</hgap>
+                    <growable_rows>0</growable_rows>
+                    <object class="sizeritem">
+                        <option>1</option>
+                        <border>0</border>
+                        <flag>wxEXPAND</flag>
+                        <object class="wxBoxSizer" name="sizer_2" base="EditBoxSizer">
+                            <orient>wxVERTICAL</orient>
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                        </object>
+                    </object>
+                    <object class="sizeritem">
+                        <option>1</option>
+                        <border>0</border>
+                        <flag>wxEXPAND</flag>
+                        <object class="wxGridSizer" name="sizer_3" base="EditGridSizer">
+                            <rows>6</rows>
+                            <cols>2</cols>
+                            <vgap>0</vgap>
+                            <hgap>0</hgap>
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                            <object class="sizerslot" />
+                        </object>
+                    </object>
+                </object>
+            </object>
+            <object class="sizeritem">
+                <option>0</option>
+                <border>0</border>
+                <object class="wxToggleButton" name="DrawTestBt" base="EditToggleButton">
+                    <events>
+                        <handler event="EVT_TOGGLEBUTTON">SetPLCTestBtnGlobalVar</handler>
+                    </events>
+                    <label>Please Draw!</label>
+                </object>
+            </object>
+            <object class="sizeritem">
+                <option>0</option>
+                <border>0</border>
+                <object class="wxToggleButton" name="DrawTestBt2" base="EditToggleButton">
+                    <events>
+                        <handler event="EVT_TOGGLEBUTTON">SetPLCTestBtn2GlobalVar</handler>
+                    </events>
+                    <label>Please Draw copy!</label>
+                </object>
+            </object>
+        </object>
+    </object>
+</application>
diff -r c44692b53736 -r 4d7cee25a474 tests/wxHMI/wxglade_hmi@wxglade_hmi/pyfile.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/wxHMI/wxglade_hmi@wxglade_hmi/pyfile.xml	Tue Oct 02 15:57:26 2018 +0200
@@ -0,0 +1,148 @@
+<?xml version='1.0' encoding='utf-8'?>
+<PyFile xmlns:xhtml="http://www.w3.org/1999/xhtml">
+  <variables>
+    <variable name="Power_ON" type="BOOL"/>
+    <variable name="Power_OFF" type="BOOL"/>
+    <variable name="DrawTest" type="BOOL"/>
+    <variable name="DrawLogo" type="BOOL"/>
+    <variable name="DrawEscher" type="BOOL"/>
+    <variable name="Detect_Circle" type="BOOL"/>
+    <variable name="XaxisPos" type="INT"/>
+    <variable name="YaxisPos" type="INT"/>
+    <variable name="ZaxisPos" type="INT"/>
+    <variable name="TaxisPos" type="INT"/>
+    <variable name="XaxisMinus" type="BOOL"/>
+    <variable name="YaxisMinus" type="BOOL"/>
+    <variable name="ZaxisMinus" type="BOOL"/>
+    <variable name="TaxisMinus" type="BOOL"/>
+    <variable name="XaxisPlus" type="BOOL"/>
+    <variable name="YaxisPlus" type="BOOL"/>
+    <variable name="ZaxisPlus" type="BOOL"/>
+    <variable name="TaxisPlus" type="BOOL"/>
+    <variable name="DrawTestBtn" type="BOOL"/>
+    <variable name="DrawTestBtn2" type="BOOL"/>
+  </variables>
+  <globals>
+    <xhtml:p><![CDATA[
+import ctypes
+import wx, sys
+
+AxisList = ["X","Y","Z","T"]
+
+PwrButtons = ['Power_ON',
+              'Power_OFF']
+
+ActionButtons = ['Detect_Circle',
+                 'DrawTest',
+                 'DrawLogo',
+                 'DrawEscher']
+
+class ThreeDee(wx.StaticText):
+    def __init__(self, *args, **kwargs):
+        self.initialized = False
+        kwargs["style"] = wx.ALIGN_CENTRE_HORIZONTAL
+        super(ThreeDee, self).__init__(*args, **kwargs)
+
+        self.SetFont(wx.Font(24, wx.SWISS, wx.NORMAL, wx.BOLD))
+        
+        self.positions = [0.]*4
+
+        self.Message = None
+        self.NegLimits = None
+        self.Disk = None
+
+
+    def UpdatePositions(self, positions):
+        # get globals from PLC
+        self.positions = positions
+        self.SetLabel(
+            ((self.Message  +'\n\n') if self.Message else '' )+
+            " ".join(["%s %+.2f"%(axis,self.positions[i])
+                          for i,axis in enumerate(AxisList)]))
+
+def MakeButtonFunc(window, sizer, btname):
+    def ButtonDown(event):
+        setattr(PLCGlobals,btname,1)
+        event.Skip()
+    def ButtonUp(event):
+        setattr(PLCGlobals,btname,0)
+        event.Skip()
+    obj = wx.BitmapButton(window, -1, wx.Bitmap('%s.png'%btname))
+    sizer.Add(obj, 2, wx.EXPAND, 0)
+    obj.Bind(wx.EVT_LEFT_DOWN, ButtonDown)
+    obj.Bind(wx.EVT_LEFT_UP, ButtonUp)
+    return obj
+
+def UpdPos(self):
+    positions = [getattr(PLCGlobals,axname+"axisPos") for axname in AxisList]
+
+    self.window_1.UpdatePositions(positions)
+
+Class_wxglade_hmi.UpdPos = UpdPos
+
+
+#def UpdatePositions(self, event):
+#
+#    positions = [getattr(PLCGlobals,axname+"axisPos") for axname in AxisList]
+#
+#    self.window_1.UpdatePositions(positions)
+#
+#    event.Skip()
+
+#Class_wxglade_hmi.UpdatePositions = UpdatePositions
+
+def CleanSizer(sizer):
+    sizer_len = sizer.GetItemCount()
+    if sizer_len > 0:
+        for i in reversed(range(sizer_len)):
+            sizer.Remove(i)
+
+initorig = Class_wxglade_hmi.__init__
+def Init(self,*args,**kargs):
+    initorig(self,*args,**kargs)
+    sizer = self.GetSizer().GetItem(1).GetSizer().GetItem(0).GetSizer()
+    CleanSizer(sizer)
+    self.main_buttons = map(
+        lambda btname: MakeButtonFunc(self, sizer, btname), PwrButtons)
+    sizer = self.GetSizer().GetItem(1).GetSizer().GetItem(1).GetSizer()
+    CleanSizer(sizer)
+    self.main_buttons = map(
+        lambda btname: MakeButtonFunc(self, sizer, btname), ActionButtons)
+    self.axis_buttons = map(
+        lambda axis:( MakeButtonFunc(self, sizer, axis+"axisMinus"), 
+                        MakeButtonFunc(self, sizer, axis+"axisPlus")),
+        AxisList)
+
+    
+    # self.timer = wx.Timer(self, -1)
+    # self.Bind(wx.EVT_TIMER, self.UpdatePositions, self.timer)
+    # self.ShowFullScreen(True,wx.FULLSCREEN_ALL)
+    # wx.CallAfter(self.timer.Start,200)
+    
+Class_wxglade_hmi.__init__ = Init
+
+def SetPLCTestBtnGlobalVar(self, evt):
+    setattr(PLCGlobals, "DrawTestBtn", evt.GetEventObject().GetValue())
+
+def SetPLCTestBtn2GlobalVar(self, evt):
+    setattr(PLCGlobals, "DrawTestBtn2", evt.GetEventObject().GetValue())
+
+]]></xhtml:p>
+  </globals>
+  <init>
+    <xhtml:p><![CDATA[
+]]></xhtml:p>
+  </init>
+  <cleanup>
+    <xhtml:p><![CDATA[
+]]></xhtml:p>
+  </cleanup>
+  <start>
+    <xhtml:p><![CDATA[
+]]></xhtml:p>
+  </start>
+  <stop>
+    <xhtml:p><![CDATA[
+]]></xhtml:p>
+  </stop>
+</PyFile>
diff -r c44692b53736 -r 4d7cee25a474 xmlclass/xmlclass.py
--- a/xmlclass/xmlclass.py	Tue Oct 02 15:56:09 2018 +0200
+++ b/xmlclass/xmlclass.py	Tue Oct 02 15:57:26 2018 +0200
@@ -618,8 +618,9 @@
         element_name = factory.etreeNamespaceFormat % infos["name"]
         if infos["elmt_type"]["type"] == SIMPLETYPE:
             def initial_value():
-                value = etree.Element(element_name)
+                value = factory.Parser.makeelement(element_name)
                 value.text = (infos["elmt_type"]["generate"](infos["elmt_type"]["initial"]()))
+                value._init_()
                 return value
         else:
             def initial_value():
@@ -776,6 +777,7 @@
         self.SchemaNamespace = None
         self.TargetNamespace = None
         self.etreeNamespaceFormat = "%s"
+        self.Parser = None
 
         self.CurrentCompilations = []
 
@@ -1173,9 +1175,8 @@
         class_infos = {
             "type": COMPILEDCOMPLEXTYPE,
             "name": classname,
-            "initial": generateClassCreateFunction(class_definition),
+            "initial": generateClassCreateFunction(self, class_definition),
         }
-
         if self.FileName is not None:
             self.ComputedClasses[self.FileName][classname] = class_definition
         else:
@@ -1268,12 +1269,12 @@
         raise ValueError("XSD structure not yet supported!")
 
 
-def generateClassCreateFunction(class_definition):
+def generateClassCreateFunction(factory, class_definition):
     """
     Method that generate the method for creating a class instance
     """
     def classCreatefunction():
-        return class_definition()
+        return factory.Parser.CreateElementFromClass(class_definition)
     return classCreatefunction
 
 
@@ -1386,7 +1387,7 @@
 
                     for element in reversed(value):
                         if element_infos["elmt_type"]["type"] == SIMPLETYPE:
-                            tmp_element = etree.Element(factory.etreeNamespaceFormat % name)
+                            tmp_element = factory.Parser.makeelement(factory.etreeNamespaceFormat % name)
                             tmp_element.text = element_infos["elmt_type"]["generate"](element)
                             element = tmp_element
                         self.insert(insertion_point, element)
@@ -1742,6 +1743,8 @@
     def __init__(self, classes, *args, **kwargs):
         etree.PythonElementClassLookup.__init__(self, *args, **kwargs)
         self.LookUpClasses = classes
+        self.ElementTag = None
+        self.ElementClass = None
 
     def GetElementClass(self, element_tag, parent_tag=None, default=DefaultElementClass):
         element_class = self.LookUpClasses.get(element_tag, (default, None))
@@ -1755,7 +1758,56 @@
             return self.GetElementClass(element_with_parent_class, default=default)
         return element_with_parent_class
 
+    def SetLookupResult(self, element, element_class):
+        """
+        Set lookup result for the next 'lookup' callback made by lxml backend.
+        Lookup result is used only if element matches with tag's name submited to 'lookup'.
+        This is done, because there is no way to submit extra search parameters for
+        etree.PythonElementClassLookup.lookup() from etree.XMLParser.makeelement()
+        It's valid only for a signle 'lookup' call.
+
+        :param element:
+            element's tag name
+        :param element_class:
+            element class that should be returned on
+            match in the next 'lookup' call.
+        :return:
+            Nothing
+        """
+        self.ElementTag = element
+        self.ElementClass = element_class
+
+    def ResetLookupResult(self):
+        """Reset lookup result, so it don't influence next lookups"""
+        self.ElementTag = None
+        self.ElementClass = None
+
+    def GetLookupResult(self, element):
+        """Returns previously set SetLookupResult() lookup result"""
+        element_class = None
+        if self.ElementTag is not None and self.ElementTag == element.tag:
+            element_class = self.ElementClass
+        self.ResetLookupResult()
+        return element_class
+
     def lookup(self, document, element):
+        """
+        Lookup for element class for given element tag.
+        If return None from this method, the fallback is called.
+
+        :param document:
+            opaque document instance that contains the Element
+        :param element:
+            lightweight Element proxy implementation that is only valid during the lookup.
+            Do not try to keep a reference to it.
+            Once the lookup is done, the proxy will be invalid.
+        :return:
+            Returns element class corresponding to given element.
+        """
+        element_class = self.GetLookupResult(element)
+        if element_class is not None:
+            return element_class
+
         parent = element.getparent()
         element_class = self.GetElementClass(
             element.tag, parent.tag if parent is not None else None)
@@ -1773,9 +1825,10 @@
 
 
 class XMLClassParser(etree.XMLParser):
-
-    def __init__(self, namespaces, default_namespace_format, base_class, xsd_schema, *args, **kwargs):
+    def __init__(self, *args, **kwargs):
         etree.XMLParser.__init__(self, *args, **kwargs)
+
+    def initMembers(self, namespaces, default_namespace_format, base_class, xsd_schema):
         self.DefaultNamespaceFormat = default_namespace_format
         self.NSMAP = namespaces
         targetNamespace = etree.QName(default_namespace_format % "d").namespace
@@ -1822,14 +1875,53 @@
             None)
 
     def CreateElement(self, element_tag, parent_tag=None, class_idx=None):
+        """
+        Create XML element based on elements and parent's tag names.
+
+        :param element_tag:
+            element's tag name
+        :param parent_tag:
+            optional parent's tag name. Default value is None.
+        :param class_idx:
+            optional index of class in list of founded classes
+            with same element and parent. Default value is None.
+        :return:
+            created XML element
+            (subclass of lxml.etree._Element created by class factory)
+        """
         element_class = self.GetElementClass(element_tag, parent_tag)
         if isinstance(element_class, ListType):
             if class_idx is not None and class_idx < len(element_class):
-                new_element = element_class[class_idx]()
+                element_class = element_class[class_idx]
             else:
                 raise ValueError("No corresponding class found!")
-        else:
-            new_element = element_class()
+        return self.CreateElementFromClass(element_class, element_tag)
+
+    def CreateElementFromClass(self, element_class, element_tag=None):
+        """
+        Create XML element instance of submitted element's class.
+        Submitted class should be subclass of lxml.etree._Element.
+
+        element_class shouldn't be used to create XML element
+        directly using element_class(), because lxml backend
+        should be aware what class handles what xml element,
+        otherwise default lxml.etree._Element will be used.
+
+        :param element_class:
+            element class
+        :param element_tag:
+            optional element's tag name.
+            If omitted it's calculated from element_class instance.
+        :return:
+            created XML element
+            (subclass of lxml.etree._Element created by class factory)
+        """
+        if element_tag is None:
+            element_tag = element_class().tag
+        etag = self.DefaultNamespaceFormat % element_tag
+        self.ClassLookup.SetLookupResult(etag, element_class)
+        new_element = self.makeelement(etag)
+        self.ClassLookup.ResetLookupResult()
         DefaultElementClass.__setattr__(new_element, "tag", self.DefaultNamespaceFormat % element_tag)
         new_element._init_()
         return new_element
@@ -1840,18 +1932,20 @@
     This function generate a xml parser from a class factory
     """
 
+    parser = XMLClassParser(strip_cdata=False, remove_blank_text=True)
+    factory.Parser = parser
+
     ComputedClasses = factory.CreateClasses()
-
     if factory.FileName is not None:
         ComputedClasses = ComputedClasses[factory.FileName]
     BaseClass = [(name, XSDclass) for name, XSDclass in ComputedClasses.items() if XSDclass.IsBaseClass]
 
-    parser = XMLClassParser(
+    parser.initMembers(
         factory.NSMAP,
         factory.etreeNamespaceFormat,
         BaseClass[0] if len(BaseClass) == 1 else None,
-        etree.XMLSchema(etree.fromstring(xsdstring)),
-        strip_cdata=False, remove_blank_text=True)
+        etree.XMLSchema(etree.fromstring(xsdstring)))
+
     class_lookup = XMLElementClassLookUp(factory.ComputedClassesLookUp)
     parser.set_element_class_lookup(class_lookup)